Mobile Robot Navigation in Indoor Environments: Geometric, Topological, and Semantic Navigation

摘要

The objective of the chapter is to show current trends in robot navigation systems related to indoor environments. Navigation systems depend on the level of abstraction of the environment representation. The three main techniques for representing the environment will be described: geometric, topological, and semantic. The geometric representation of the environment is closer to the sensor and actuator world and it is the best one to perform local navigation. Topological representation of the environment uses graphs to model the environment and it is used in large navigation tasks. The semantic representation is the most abstract representation model and adds concepts such as utilities or meanings of the environment elements in the map representation. In addition, regardless of the representation used for navigation, perception plays a significant role in terms of understanding and moving through the environment.