Reasoning Systems for Semantic Navigation in Mobile Robots

Abstract

Semantic navigation is the navigation paradigm in which environmental semantic concepts and their relationships are taken into account to plan the route of a mobile robot. This paradigm facilitates the interaction with humans and the understanding of human environments in terms of navigation goals and tasks. At the high level, a semantic navigation system requires two main components: a semantic representation of the environment, and a reasoner system. This paper is focused on develop a model of the environment using semantic concepts. This paper presents two solutions for the semantic navigation paradigm. Both systems implement an ontological model. Whilst the first one uses a relational database, the second one is based on KnowRob. Both systems have been integrated in a semantic navigator. We compare both systems at the qualitative and quantitative levels, and present an implementation on a mobile robot as a proof of concept.

Figures (9)

• Figure 2: Ontology model entity-relationship diagram
• Figure 3: Extracting information from a relational data base.
• Figure 4: Relational model representation of the SQL based system reasoner.
• Figure 5: Relationships of the conceptual and physical hierarchy implemented in Protege.
• Figure 6: Knowledge on which the comparison experiment between reasoners is carried out. The red lines correspond to data about the real world and the purple lines to conceptual relations.