Semantic Environment Formalization for Mobile Robots Navigation

Autores UPV
CONGRESO Semantic Environment Formalization for Mobile Robots Navigation


In this work is presented an environment formalization for the generic description of mobile robot environments, by offering a common semantic frame to suit almost every possible scenery. It is also designed to be used by heterogeneous groups of robots with different capabilities in terms of perception or mobility between others. In order to achieve this goal is defined a hierarchy of environment elements, that ranges from the more simple objects till the whole map specification. Furthermore, it must be able to manage 2D, 2.5D and 3D geometric representation, to deal with both, static and dynamic elements, and to describe navigation landmarks. The application of areas of interest, defined as a subsection of the full map, will optimize the environment management costs enhancing the system execution. Finally, this formalization is used to define an experimental environment in order to show the advantages of this proposal.