Semantic Grounding for Long-Term Autonomy of Mobile Robots Toward Dynamic Object Search in Home Environments

摘要

In this article, we presents an effective semantic grounding scheme to long-term mobile robots for dynamic object search in open/dynamic home environments. The challenge of this strategy lies in dealing with situations where the robot suffers the home environment with an unknown layout of the object and the target object is moved without the robot’s knowledge. Therefore, a general probabilistic model and a semantic model are established by investigating typical spatial location relations between object and room type, in order to guide the robot to prioritize the search effort for spaces that are most promising to find the target object. Furthermore, a semantic grounding solution is proposed to address the mutual independence between objects, endowing the robot with inference capability for dynamic object search. Also, our proposal can be shared with other robots that have not explored the environment in order to perform object search tasks. The presented scheme is fully evaluated by extensive experiments in the real-world environment. The results demonstrate the validity of our approach by comparing it with the other three schemes in terms of search time and trajectory length, and show that the proposed method allows the mobile robot to efficiently and robustly find the dynamic object while achieving the human-like performance.