Autonomous Navigation Framework for Intelligent Robots Based on a Semantic Environment Modeling

Abstract

Humans have an innate ability of environment modeling, perception, and planning while simultaneously performing tasks. However, it is still a challenging problem in the study of robotic cognition. We address this issue by proposing a neuro-inspired cognitive navigation framework, which is composed of three major components: semantic modeling framework (SMF), semantic information processing (SIP) module, and semantic autonomous navigation (SAN) module to enable the robot to perform cognitive tasks. The SMF creates an environment database using Triplet Ontological Semantic Model (TOSM) and builds semantic models of the environment. The environment maps from these semantic models are generated in an on-demand database and downloaded in SIP and SAN modules when required to by the robot. The SIP module contains active environment perception components for recognition and localization. It also feeds relevant perception information to behavior planner for safely performing the task. The SAN module uses a behavior planner that is connected with a knowledge base and behavior database for querying during action planning and execution. The main contributions of our work are the development of the TOSM, integration of SMF, SIP, and SAN modules in one single framework, and interaction between these components based on the findings of cognitive science. We deploy our cognitive navigation framework on a mobile robot platform, considering implicit and explicit constraints for autonomous robot navigation in a real-world environment. The robotic experiments demonstrate the validity of our proposed framework.