Robot Navigation Based on Situational Awareness

doi:10.1109/TCDS.2021.3075862

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Robot Navigation Based on Situational Awareness
	Liu, Xilong1,2 ; Cao, Zhiqiang1,2 ; Yu, Yingying1,2 ; Ren, Guangli1,2 ; Yu, Junzhi3 ; Tan, Min1,2
发表期刊	IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
ISSN	2379-8920
	2022-09-01
卷号	14 期号:3 页码:869-881
通讯作者	Cao, Zhiqiang(zhiqiang.cao@ia.ac.cn)
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.
关键词	Navigation Robots Robot sensing systems Fitting Sensors Computational modeling Three-dimensional displays Path perception robot navigation situational awareness fitting network
DOI	10.1109/TCDS.2021.3075862
关键词[WOS]	SLAM ; MAP ; VERSATILE ; ROBUST
收录类别	SCI
语种	英语
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]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Computer Science ; Robotics ; Neurosciences & Neurology
WOS类目	Computer Science, Artificial Intelligence ; Robotics ; Neurosciences
WOS记录号	WOS:000852243600011
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/50102
专题	中科院工业视觉智能装备工程实验室_精密感知与控制复杂系统认知与决策实验室_先进机器人多模态人工智能系统全国重点实验室_互联网大数据与信息安全
通讯作者	Cao, Zhiqiang
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.