The Autonomous City Explorer: Towards Semantic Navigation in Urban Environments
نویسندگان
چکیده
The Autonomous City Explorer (ACE) project aims to create a robot capable of navigating unknown urban environments without the use of GPS data or prior map knowledge. The robot finds its way by interacting with pedestrians and building a topological representation of its surroundings. This paper outlines the necessary ingredients for successful low-level navigation on sidewalks, information retrieval from pedestrians as well as the construction of a semantic representation of an urban environment. A system architecture for outdoor localization, traversability assessment, path planning, behavior selection and topological abstraction in urban environments is presented. The efficiency of the proposed approach is verified by a number of outdoor experiments with the ACE robot.
منابع مشابه
The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments
The Autonomous City Explorer (ACE) project combines research from autonomous outdoor navigation and human-robot interaction. The ACE robot is capable of navigating unknown urban environments without the use of GPS data or prior map knowledge and finds its way by interacting with pedestrians in a natural and intuitive way and building a topological representation of its surroundings. In a recent...
متن کاملThe Autonomous City Explorer (ACE) Project – Mobile Robot Navigation in Highly Populated Urban Environments
One of the greatest challenges nowadays in robotics is the advancement of robots from industrial tools to companions and helpers of humans, operating in natural, populated environments. In this respect, the Autonomous City Explorer (ACE) project aims to combine the research fields of autonomous mobile robot navigation and human robot interaction. A robot has been created that is capable of navi...
متن کاملThe Autonomous City Explorer Project: Towards Navigation by Interaction and Visual Perception
The Autonomous City Explorer (ACE) project has the goal, to develop a robot which is capable of finding its way to a given destination in an unknown urban environment. An exemplary mission is to find the way from our institute to the marienplatz, a public place in the center of munich, without any prior knowledge or gps information. Inspired by the behavior of humans in unknown environments, AC...
متن کاملAutonomous Robot Navigation in Highly Populated Pedestrian Zones
In the past, there has been a tremendous progress in the area of autonomous robot navigation and a large variety of robots have been developed who demonstrated robust navigation capabilities indoors, in non-urban outdoor environments, or on roads and relatively few approaches focus on navigation in urban environments such as city centers. Urban areas, however, introduce numerous challenges for ...
متن کامل