Semantic enhanced navigation among movable obstacles in the home environment

Nico Sun, Erfu Yang, Jonathan Corney, Yi Chen, Zeli Ma

Research output: Contribution to conferencePoster

Abstract

An autonomous household robot has to be able to navigate through a variable environment and perform commonhousehold tasks. Additionally, in cluttered and narrow homes movement can become impossible unless obstacles are moved out of the way. Both challenges involve the manipulation of objects and a planning algorithm that can integrate the function of regions and objects to avoid the creation of new safety hazards during robot movement. We present a semantic detection method during path planning using a gridded semantic map to improve navigation among movable obstacles (NAMO) and support for simple household sub-tasks like cleaning a table and moving obstructing objects to another location. In our tests, the spatial planning was completed well within human reaction time, which is important for a natural interaction between a human and a robot.
LanguageEnglish
Pages68-71
Number of pages4
Publication statusPublished - 24 Jan 2019
EventUK-RAS19 Conference - Loughborough University, Loughborough, United Kingdom
Duration: 24 Jan 201924 Jan 2019

Conference

ConferenceUK-RAS19 Conference
CountryUnited Kingdom
CityLoughborough
Period24/01/1924/01/19

Fingerprint

Navigation
Semantics
Robots
Human reaction time
Planning
Motion planning
Cleaning
Hazards

Keywords

  • planning
  • autonomous household robots
  • robotics
  • navigation among movable obstacles (NAMO)
  • semantic mapping

Cite this

Sun, N., Yang, E., Corney, J., Chen, Y., & Ma, Z. (2019). Semantic enhanced navigation among movable obstacles in the home environment. 68-71. Poster session presented at UK-RAS19 Conference, Loughborough, United Kingdom.
Sun, Nico ; Yang, Erfu ; Corney, Jonathan ; Chen, Yi ; Ma, Zeli. / Semantic enhanced navigation among movable obstacles in the home environment. Poster session presented at UK-RAS19 Conference, Loughborough, United Kingdom.4 p.
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Sun, N, Yang, E, Corney, J, Chen, Y & Ma, Z 2019, 'Semantic enhanced navigation among movable obstacles in the home environment' UK-RAS19 Conference, Loughborough, United Kingdom, 24/01/19 - 24/01/19, pp. 68-71.

Semantic enhanced navigation among movable obstacles in the home environment. / Sun, Nico; Yang, Erfu; Corney, Jonathan; Chen, Yi; Ma, Zeli.

2019. 68-71 Poster session presented at UK-RAS19 Conference, Loughborough, United Kingdom.

Research output: Contribution to conferencePoster

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AU - Ma, Zeli

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Sun N, Yang E, Corney J, Chen Y, Ma Z. Semantic enhanced navigation among movable obstacles in the home environment. 2019. Poster session presented at UK-RAS19 Conference, Loughborough, United Kingdom.