Direkt zum Inhalt | Direkt zur Navigation

UniBwM » LRT » Technik Autonomer Systeme » Technik Autonomer Systeme (TAS) » Forschung » Projekte » CoTeSys » A Closed Cognitive Loop for Autonomous Exploration of Unknown Terrain

A Closed Cognitive Loop for Autonomous Exploration of Unknown Terrain

P312: A Closed Cognitive Loop for Autonomous Exploration of Unknown Terrain

 Inspired by human navigation behavior, characterized by object-related plans and a close coupling between perception and action selection, a new approach for autonomous robot navigation is developed.

Most if not all state-of-the-art approaches to autonomous navigation work in the domain of global cartesian coordinates. In contrast, human spatial navigation behavior is characterized by local object-related plans, where perception of objects is closely coupled to action selection.

Rather than putting focus on planning, replanning and executing trajectories, the novel approach will enable autonomous systems to directly navigate in relation to the objects or structures they perceive. Each part of a plan is a control loop that couples robot guidance to an object. Hence, perception and action selection will not be regarded as distinct units, but will be combined into an "integral unit" for closing the cognitive loop.

The majority of researchers in robotics adhere to the idea of global metric path planning, where motion decisions are represented in form of planned trajectories. Once a trajectory is planned, there is no explicit connection to those objects it is trying to avoid anymore. The new approach of object-related navigation means to completly avoid planning and execution of trajectories but to navigate relatively to perceived objects.

The approach constitutes a closed cognitive loop of perception, knowledge representation, learning and action selection for solving navigation tasks in a physical world. It is general in nature and applicable to all moving robot platforms.

 


cotesys_logo

312_perception

Snapshot of object perception and target trajectory (purple) related to the perceived object (green box).