Semantic Information for Robot Navigation: A Survey

Crespo, Castillo, Mozos, Barber
2020 Applied Sciences  
There is a growing trend in robotics for implementing behavioural mechanisms basedon human psychology, such as the processes associated with thinking. Semantic knowledge hasopened new paths in robot navigation, allowing a higher level of abstraction in the representationof information. In contrast with the early years, when navigation relied on geometric navigatorsthat interpreted the environment as a series of accessible areas or later developments that ledto the use of graph theory, semantic
more » ... nformation has moved robot navigation one step further.This work presents a survey on the concepts, methodologies and techniques that allow includingsemantic information in robot navigation systems. The techniques involved have to deal with arange of tasks from modelling the environment and building a semantic map, to including methodsto learn new concepts and the representation of the knowledge acquired, in many cases throughinteraction with users. As understanding the environment is essential to achieve high-level navigation,this paper reviews techniques for acquisition of semantic information, paying attention to the twomain groups: human-assisted and autonomous techniques. Some state-of-the-art semantic knowledgerepresentations are also studied, including ontologies, cognitive maps and semantic maps. All ofthis leads to a recent concept, semantic navigation, which integrates the previous topics to generatehigh-level navigation systems able to deal with real-world complex situations.
doi:10.3390/app10020497 fatcat:i244eumavvhqfgcxfkxeg5uhxa