REGIONALIZED QUALITATIVE SPATIAL REPRESENTATION MODEL AND ITS APPLICATION TO MOBILE ROBOT NAVIGATION

Chaoliang Zhong, Shirong Liu, and Botao Zhang

Keywords

Qualitative spatial knowledge representation, spatial reasoning, motion behaviour decision, robot qualitative navigation

Abstract

A mobile robot navigation method based on qualitative spatial knowledge is proposed. Firstly, a regionalized qualitative spatial knowledge representation model with both topological and directional relations is proposed, which integrates the mereotopological theory used to describe the spatial topological relations and the extended minimum bounding rectangle (EMBR) model used to describe the spatial directional relations, making the description of robots for spatial information enhanced to the knowledge level from the original data level and hence enhancing the spatial information representation and reasoning ability. Secondly, the robot infers the spatial motion behaviour according to the regionalized qualitative spatial knowledge and guides the robot to move step by step to reach the destination and complete the navigation task using a target-oriented navigation strategy. Finally, the feasibility and effectiveness of the navigation method are veriļ¬ed by simulation and physical experiments.

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