| Robot Navigation Based on Situational Awareness | |
| 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
 |
| 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 |
| DOI | 10.1109/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. |
| 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关键词 | SLAM ; MAP ; VERSATILE ; ROBUST |
| WOS研究方向 | Computer Science ; Robotics ; Neurosciences & Neurology |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000852243600011 |
| 资助机构 | National Natural Science Foundation of China |
| 内容类型 | 期刊论文 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/50101]  |
| 专题 | 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 |
| 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. |
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