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Robot Navigation Based on Situational Awareness

文献类型：期刊论文

作者Liu, Xilong2,3; Cao, Zhiqiang2,3; Yu, Yingying2,3; Ren, Guangli2,3; Yu, Junzhi1; Tan, Min2,3
刊名IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
出版日期2022-09-01
卷号14期号:3页码:869-881
关键词Navigation Robots Robot sensing systems Fitting Sensors Computational modeling Three-dimensional displays Path perception robot navigation situational awareness fitting network
ISSN号2379-8920
DOI10.1109/TCDS.2021.3075862
通讯作者Cao, Zhiqiang(zhiqiang.cao@ia.ac.cn)
英文摘要Autonomous navigation for mobile robots is a prerequisite to complete the tasks. In this article, we propose a novel navigation method based on situational awareness. The scene predictor, scene interpreter and the topological map-based planner are the main components, where the scene interpreter is used to realize the mapping of perception information, and the scene predictor predicts the information in the neighborhood of current position. The basic idea of this research is the feeling of path. Based on the definitions of path and the amount of perception, the situational awareness fitting network is designed as the scene interpreter, and the position of the robot in a path can be implicitly described by a situational awareness value. With the global guidance of the planner, the robot achieves navigation. The proposed navigation method does not rely on Cartesian-based global position and its effectiveness is verified by simulations and experiments.
WOS关键词SLAM ; MAP ; VERSATILE ; ROBUST
资助项目National Natural Science Foundation of China[62073322] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61973302] ; National Natural Science Foundation of China[61633017]
WOS研究方向Computer Science ; Robotics ; Neurosciences & Neurology
语种英语
WOS记录号WOS:000852243600011
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/50101]  
专题精密感知与控制研究中心_精密感知与控制
自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
自动化研究所_复杂系统管理与控制国家重点实验室_互联网大数据与安全信息学研究中心
通讯作者Cao, Zhiqiang
作者单位1.Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Liu, Xilong,Cao, Zhiqiang,Yu, Yingying,et al. Robot Navigation Based on Situational Awareness[J]. IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,2022,14(3):869-881.
APA Liu, Xilong,Cao, Zhiqiang,Yu, Yingying,Ren, Guangli,Yu, Junzhi,&Tan, Min.(2022).Robot Navigation Based on Situational Awareness.IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS,14(3),869-881.
MLA Liu, Xilong,et al."Robot Navigation Based on Situational Awareness".IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS 14.3(2022):869-881.

入库方式： OAI收割

来源：自动化研究所

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