Method for realizing autonomous navigation of robot based on natural language and semantic map
A natural language and semantic map technology, applied in navigation, surveying and mapping, neural learning methods, etc., can solve the problems of not using semantics, poor navigation effect, large resource and time consumption, etc., to ensure navigation effect and improve navigation efficiency , cost-saving effect
Pending Publication Date: 2020-02-21
SOUTH CHINA UNIV OF TECH
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Problems solved by technology
[0004]
(1) Obtaining an accurate measurement map requires a lot of resources and time to scan the environment in advance, and the cost of obtaining an accurate measurement map is relatively high
[0005]
(2) In some complex scenes that are difficult to observe, it is more difficult and expensive to obtain accurate measurement maps, and this type of method may not be implemented
[0006]
(3) The navigation effect depends on the accuracy of the measurement map. In some occasions where it is difficult to obtain an accurate measurement map, the navigation effect will become poor
[0007]
(4) The autonomous navigation method based on the accurate measurement map is based on the measurement information of the environment for navigation, without using the semantics and topological information of the environment
Method used
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[0055] The present invention will be further described below in conjunction with specific embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.
[0056] like Figure 1 to Figure 3 As shown, the method for realizing robot autonomous navigation based on natural language and semantic map provided by this embodiment includes the following steps:
[0057] 1) Obtain the semantic map of the robot's environment, including the topological relationship between the starting point, destination and other locations. The semantic map of the robot's environment refers to the topological map used to describe the robot's environment, including the representation of the environment The vertices of each area in , and the edges that represent the mutual access relationship between vertices.
[0058] 2) Each position in the acquired semantic map is represented by a vertex, and the access relationship of the vertices is represented by the edge ...
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The invention discloses a method for realizing autonomous navigation of a robot based on a natural language and a semantic map. The method comprises the following steps: 1) acquiring the semantic mapof an environment where the robot is located; 2) describing the obtained semantic map into a triple set; 3) respectively extracting features of the semantic map and the natural language instruction through two groups of double-layer GRU encoders; 4) fusing the features of the semantic map and the features of the natural language instruction through an attention mechanism; 5) gradually generating anavigation instruction through a double-layer GRU decoder; and 6) converting the navigation instruction obtained by decoding into an instruction sequence which can be executed by the robot, and enabling the robot to perform autonomous navigation according to the instruction sequence. The robot navigation method can perform robot navigation by utilizing the natural language instruction, and meetsthe requirement of enabling the robot to perform autonomous navigation in various environments under the condition of not needing to obtain an accurate measurement map in advance.
Description
technical field [0001] The present invention relates to the technical fields of natural language processing, deep learning and autonomous navigation, in particular to a method for realizing autonomous navigation of robots based on natural language and semantic maps. Background technique [0002] In recent years, robot autonomous navigation has become more and more widely used in production and life, and more and more application scenarios require accurate and efficient autonomous navigation technology. In the past autonomous navigation methods, it is necessary to scan the environment first to obtain an accurate measurement map, and then carry out path planning for navigation. Obtaining an accurate metric map takes a lot of effort, and the accuracy of the map has a great impact on the navigation performance. Therefore, research on autonomous navigation methods based on semantic maps and natural language is of great significance. [0003] At present, the research of robot au...
Claims
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Login to View More IPC IPC(8): G06F16/29G01C21/00G06N3/04G06N3/08
CPCG06F16/29G01C21/00G06N3/08G06N3/044
Inventor 董敏聂宏蓄毕盛杨垲泓
Owner SOUTH CHINA UNIV OF TECH