- 著者
-
Ankit A. Ravankar
Abhijeet Ravankar
Takanori Emaru
Yukinori Kobayashi
- 出版者
- The Japan Society of Mechanical Engineers
- 雑誌
- ロボティクス・メカトロニクス講演会講演概要集 (ISSN:24243124)
- 巻号頁・発行日
- pp.1P1-D16, 2020 (Released:2020-11-25)
- 被引用文献数
-
1
1
In this paper, we present a path planning approach for mobile robots using semantic maps. Semantic mapping is qualitative description of the robot’s surroundings, that aims to augment the navigation capabilities and task planning for robots operating in human-robot scenarios. It presents a knowledge layer over an existing map representation such that the knowledge information can be used by robots to learn tasks in a human friendly way. We present a planning scheme using such semantic maps, in order to improve the goal reaching capabilities of the robot in a task-planning scenario. Our method can integrates existing path planners into the topological graph planner that produces faster goal searches.