Motivated by cognitive considerations about human knowledge representation we introduce a new approach for robot motion planning and control. Instead of reasoning about positions in a global cartesian coordinate frame we utilize relative orientation and distance information between the robot and perceived objects in the environment. A representation built upon these considerations enables on the one hand a tight coupling between perception, planning, and robot control, while on the other hand a means for precise robot control is established. With our approach we try to encourage for a new view in robotic planning problems by illustrating how it allows for plan generation and execution in a human comprehensible fashion by incorporating plans like: ”Overtake vehicle X on the right side, then follow lane Y.”


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    Title :

    Object-related-navigation for mobile robots


    Contributors:


    Publication date :

    2012-06-01


    Size :

    1832350 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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