Intelligent LiDAR Navigation: Leveraging External Information and Semantic Maps with LLM as Copilot

摘要

Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and physical distances but also by integrating external information, such as elevator maintenance updates from public notification boards and experiential knowledge, like the need for special access through certain doors. With the development of Large Language Models (LLMs), which possesses text understanding and intelligence close to human performance, there is now an opportunity to infuse robot navigation systems with a level of understanding akin to human cognition. In this study, we propose using osmAG (Area Graph in OpenStreetMap textual format), an innovative semantic topometric hierarchical map representation, to bridge the gap between the capabilities of ROS move_base and the contextual understanding offered by LLMs. Our methodology employs LLMs as an actual copilot in robot navigation, enabling the integration of a broader range of informational inputs, while maintaining the robustness of traditional robotic navigation systems. Our code, demo, map, and experiment results can be accessed at https://github.com/xiexiexiaoxiexie/Intelligent-LiDAR-Navigation-LLM-as-Copilot.