Autonomous Search of Semantic Objects in Unknown Environments

摘要

This paper addresses the problem of enabling a robot to search for a semantic object, i.e., an object with a semantic label, in an unknown and GPS-denied environment. For the robot in the unknown environment to detect and find the target semantic object, it must perform simultaneous localization and mapping (SLAM) at both geometric and semantic levels using its onboard sensors while planning and executing its motion based on the ever-updated SLAM results. In other words, the robot must be able to conduct simultaneous localization, semantic mapping, motion planning, and execution in real-time in the presence of sensing and motion uncertainty. This is an open problem as it combines semantic SLAM based on perception and real-time motion planning and execution under uncertainty. Moreover, the goals of the robot motion change on the fly depending on whether and how the robot can detect the target object. We propose a novel approach to tackle the problem, leveraging semantic SLAM, Bayesian Networks, Markov Decision Process, and Real-Time Dynamic Programming. The results in simulation and real experiments demonstrate the effectiveness and efficiency of our approach.