意味的信念グラフによる極限環境での安全かつ効率的なナビゲーション
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
未知の不整地でロボットが安全かつ効率的に移動するため、地形の意味情報と不確かさを確率ロードマップ上で扱う「意味的信念グラフ」を提案し、脚ロボットの実環境実験で検証した。
著者: Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer, Joshua Ott, Sunggoo Jung, Mykel J. Kochenderfer, Ali-akbar Agha-mohammadi
分類: cs.RO
原文アブストラクト
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with mobility-stressing elements that require terrain-specific locomotion policies. We propose the Semantic Belief Graph (SBG), a geometric- and semantic-based representation of a robot's probabilistic roadmap in the environment. The SBG nodes comprise of the robot geometric state and the semantic-knowledge of the terrains in the environment. The SBG edges represent local semantic-based controllers that drive the robot between the nodes or invoke an information gathering action to reduce semantic belief uncertainty. We formulate a semantic-based planning problem on SBG that produces a policy for the robot to safely navigate to the target location with minimal traversal time. We analyze our method in simulation and present real-world results with a legged robotic platform navigating multi-level outdoor environments.
