robot navigation based on the mapping of coarse qualitative route descriptions to route graphs

Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs

Motivation

Outline

Global World Knowledge

Local Path Planning

Coarse Route Descriptions

• Formalization

• Interpretation

• Mapping to Route Graphs

Experimental Results

• Wheelchair Rolland as mobile robotic platform.

• Need for appropriate HRI is essential, especially for a wheelchair-bound person.

• Application scenario in an office-like environment allows user to command his vehicle by natural language input.

Conclusion

1


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Route Graph

Local path planner

Formalized Coarse Route Descriptions

MMC global localizer

Conclusion

Natural LanguageCoarse Route Descriptions

localizes within m

appe

d on

to

translated to

target sequence

navigates within

2


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



• Preprocessed bitmap from CAD-blueprint.

• Voronoi-Graph based RouteGraph-layer represents navigable space.

• Semantic RouteGraph-layer stores nodes for rooms and regions,

• as well as for annotated landmarks.

Conclusion

3


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion

• Geometric path planner models obstacle-free paths by means of cubic Bezier curves.

• Benefits versus DWA and behavioural approaches:

- explicit modelling of necessary haul-off movements

- small search space due to 2 free parameters

- consideration of heading in goal-pose

4


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right.

Introductory example:

Conclusion

5


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation





Conclusion

5


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation





5

Conclusion

<CoarseRouteDesc.> ::= { <CoarseRouteSegmentDesc.> }<CoarseRouteSegmentDesc.> ::= ( <ControllerOnRoutesegment>,

<RouterOnRouteSegment>, <ActionAtEndOfRouteSegment> )

<ControllerOnRouteSegment> ::= { ( [Preposition] <Attributed Place> ) | <DistancePredicate> }<RouterOnRouteSegment> ::= { [Preposition] <AttributedPlace> }<ActionAtEndOfRouteSegment> ::= <TurnAction> | „Stop“<Preposition> ::= „Through“, „OutOf“, „Along“,

„NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“, ...

<AttributedPlace> ::= ( <Place>, <AttributeType>, <AttributeValue> )

<DistancePredicate> ::= ( <NumericalValue>, <LengthUnit> | <TimeUnit> )<TurnAction> ::= „NaturalLanguageDirection“


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion


6

Turn around, drive through the interaction lab, turn left,

go to the kitchen and stop at the first junction to the right.


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion







6



Local Path Planning


• Formalization

• Interpretation



Conclusion

Motivation

Outline








go to the kitchen and stop at the first junction to the right.6



Local Path Planning


• Formalization

• Interpretation



Conclusion

Motivation

Outline


go to the kitchen and stop at the first junction to the right.







6









Local Path Planning


• Formalization

• Interpretation



Conclusion

Motivation

Outline




Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion

Common spatial relations: example 1

Along 2-valued

7


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion

Common spatial relations: example 3

Front-Left 2-valued

8


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion

Common spatial relations: further directions

…9


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation




Conclusion

10


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation




5,...,0

55.0pp

Conclusion

Ø 36.0

10


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion

11

• For an illustrative video of experimental results visit:

http://www.informatik.uni-bremen.de/rolland/videos/Interpretation_of_Coarse_Route_Description_08_06_06.mpg


Motivation

Outline


Local Path Planning


• Formalization

• Interpretation



Conclusion

• Interpretation of coarse route descriptions facilitated by their mapping onto multi-layered Route Graphs.

• Key-concept is the fuzzy interpretation of common spatial relations.

To do:

• Extension of the set of supported spatial relations.

• Benchmarking of the system against available corpora.

12

robot navigation based on the mapping of coarse qualitative route descriptions to route graphs

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