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アイテム
Path Planning for Home Service Robots Using Semantic Map
http://hdl.handle.net/10228/0002001434
http://hdl.handle.net/10228/0002001434b3b2adde-a188-4931-a5f6-add7e4399812
| 名前 / ファイル | ライセンス | アクション |
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10435148.pdf (218.9 KB)
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| アイテムタイプ | 共通アイテムタイプ(1) | |||||||||||||||||
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| 公開日 | 2025-03-05 | |||||||||||||||||
| タイトル | ||||||||||||||||||
| タイトル | Path Planning for Home Service Robots Using Semantic Map | |||||||||||||||||
| 言語 | en | |||||||||||||||||
| 著者 |
Isomoto, Kosei
× Isomoto, Kosei
× Yano, Yuga
× 田中, 悠一朗
WEKO
30537
× 田向, 権
WEKO
6059
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| 抄録 | ||||||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||||||
| 内容記述 | In the past few years, home service robots have attracted attention against the background of an aging population with a declining birthrate in the world [1]. Home service robots need to plan tasks and execute actions autonomously in the home environment when instructed by a human. During task planning, maintaining information such as locations of furniture and room names in the environment is important in which the robot will operate in order to execute the operation efficiently. RoboCup@Home [2], a competition held for the development of home service robots, has a test called General Purpose Service Robot (GPSR). GPSR is a test in which robots listen to the operators’ instructions and compete on the degree to which they accomplish the actions required by those instructions. GPSR gives a variety of random instructions, such as Bring me the object behind the lemon from the cabinet." or "Get acquainted with Morgan at the exit and then find him in the living room." To accomplish the first instruction, the robot must move to the "cabinet" at the beginning of the task; to accomplish the second instruction, the robot must move to the "exit" and "living room." Thus, the robot must maintain the location of the room and furniture to which it is moving, tied to the language. Therefore, we propose a semantic map-based path planning algorithm for home service robots. We then evaluate the proposed method based on the results of its implementation on RoboCup@Home." | |||||||||||||||||
| 言語 | en | |||||||||||||||||
| 備考 | ||||||||||||||||||
| 内容記述タイプ | Other | |||||||||||||||||
| 内容記述 | 11th International Symposium on Applied Engineering and Sciences (SAES2023), November 20 - 21, 2023, Universiti Putra Malaysia, Malaysia | |||||||||||||||||
| 言語 | en | |||||||||||||||||
| 書誌情報 |
発行日 2023-11 |
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| キーワード | ||||||||||||||||||
| 言語 | en | |||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | Home service robot | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 言語 | en | |||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | Semantic map | |||||||||||||||||
| キーワード | ||||||||||||||||||
| 言語 | en | |||||||||||||||||
| 主題Scheme | Other | |||||||||||||||||
| 主題 | Path planning | |||||||||||||||||
| 言語 | ||||||||||||||||||
| 言語 | eng | |||||||||||||||||
| 資源タイプ | ||||||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||||||||
| 資源タイプ | conference paper | |||||||||||||||||
| 出版タイプ | ||||||||||||||||||
| 出版タイプ | VoR | |||||||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||
| 会議記述 | ||||||||||||||||||
| 会議名 | 11th International Symposium on Applied Engineering and Sciences (SAES2023) | |||||||||||||||||
| 言語 | en | |||||||||||||||||
| 回次 | 11 | |||||||||||||||||
| 開始年 | 2023 | |||||||||||||||||
| 開始月 | 11 | |||||||||||||||||
| 開始日 | 20 | |||||||||||||||||
| 終了年 | 2023 | |||||||||||||||||
| 終了月 | 11 | |||||||||||||||||
| 終了日 | 21 | |||||||||||||||||
| 開催国 | MYS | |||||||||||||||||
| 研究者情報 | ||||||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100000641_ja.html | |||||||||||||||||
| 論文ID（連携） | ||||||||||||||||||
| 値 | 10435148 | |||||||||||||||||
| 連携ID | ||||||||||||||||||
| 値 | 13598 | |||||||||||||||||
