Abstract:
Assitive robot technology is rapidly increasing in
the modern era. Robot companions become more human-like
over the time with the advancement of technology. Personal
assitive robot applications are escalated to a vast extend featuring
to medical robots, supportive robots for disabled or elderly
people as companions. It is essential to possess the capabilities in
relevance to navigation in an unknown environment within the
assistive robot. In order to posses such competencies the robot
should be able to create spatial cognitive maps and virtual maps.
With aid of those constructed maps and the actual spatial map
obtained by the sensory inputs such as laser scanner, robot should
be able to identify the objects without perceiving any visual
information. Therefore this paper proposes a method to use the
spatial cognitive map to create virtual visualization of previously
unknown environment based on spatial data conveyed through
interactive conversation with the user and link that information
with the actual spatial map obtained from the laser scanner to
identify the position of objects in the domestic environment.The
Conceptual map creator(CMC) and Virtual Spatial Map Link
Creating (VISMALC) module have been introduced in order to
combine cognitive virtual maps with the actual spatial map to
identify objects without using any visual information. Capabilities
of the robot have been demonstrated and validated from the
experimental results.
Citation:
Bandara, H.M.R.T., Basnayake, B.M.S.S., Jayasekara, A.G.B.P., & Chandima, D.P. (2018). Enhancing conceptual spatial map by amalgamating spatial and virtual cognitive maps for domestic service robots. In R. Samarasinghe & S. Abeygunawardana (Eds.), Proceedings of 2nd International Conference on Electrical Engineering 2018 (pp. 150-155). Institute of Electrical and Electronics Engineers, Inc. https://ieeexplore.ieee.org/xpl/conhome/8528200/proceeding