Path Planning Incorporating Semantic Information for Autonomous Robot Navigation

Silya Achat, Julien Marzat, Julien Moras

2022

Abstract

This paper presents an approach to take into account semantic information for autonomous robot tasks requiring path planning capabilities. A semantic pointcloud or map serves as input for generating a multi-layered map structure, which can then be exploited to address various navigation goals and constraints. Semantic-aware adaptations of A* , Transition-based RRT and a shortcut algorithm are derived in this framework, and evaluated numerically on an exploration and observation task using a reference dataset with multiple semantic classes as an illustrative test environment.

Paper Citation

in Harvard Style

Achat S., Marzat J. and Moras J. (2022). Path Planning Incorporating Semantic Information for Autonomous Robot Navigation. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 285-295. DOI: 10.5220/0011134300003271

in Bibtex Style

@conference{icinco22,
author={Silya Achat and Julien Marzat and Julien Moras},
title={Path Planning Incorporating Semantic Information for Autonomous Robot Navigation},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={285-295},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011134300003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Path Planning Incorporating Semantic Information for Autonomous Robot Navigation
SN - 978-989-758-585-2
AU - Achat S.
AU - Marzat J.
AU - Moras J.
PY - 2022
SP - 285
EP - 295
DO - 10.5220/0011134300003271