Combining probabilistic map and dialog for robust life-long office navigation

摘要

A design of mobile robot for robust life-long navigation in office environment is proposed and evaluated. The key idea is combining probabilistic map and dialog with humans for reducing the location uncertainty. Bayesian inference with the map represented by probabilistic automata is used in order to reduce the number of queries and to evaluate the success rate of planned paths. We experimentally implemented the design using a simple Bayesian network with continuous nodes and demonstrated its effectiveness in a real environment.