Robot Navigation with Schematic Maps
Christian Freksa, Reinhard Moratz, Thomas Barkowsky · 2000
We outline an approach to high-level interaction with autonomous robots by means of schematic maps. Schematic maps are knowledge representation structures to encode qualitative spatial information about physical environments. We present a scenario in which robots rely on high-level knowledge from perception and instruction to perform navigation tasks in physical environments. We discuss the general problem of formally representing a physical environment for acting in it. We propose a hybrid approach to knowledge and perception driven navigation. 1 A robot navigation scenario We describe a scenario consisting of an autonomous mobile robot and a structured spatial environment it lives in. The robot is equipped with rudimentary sensory abilities to recognize the presence as well as certain distinguishing features of obstacles that may obstruct the robotÕs way during navigation. The robotÕs task is to move to a given location in the environment.