Thursday 28th of March 2024
 

A Framework for Semantic Map Construction


Basem Ibrahim, Abeer Hamdy and Nevien Darwish

The paper proposes a framework for building a semantic map for indoor environment using a mobile robot. The framework includes five main modules which are: 1) Raw and spatial data acquisition module, 2)Steering and exploration module, 3)Information detection and extraction module, 4)Semantic knowledge mapping module and 5) High level task planner interface. The framework will be implemented on the ATRV-Mini robot. A simulation and control environment has been developed for this purpose. The steering and exploration module and the tasks responsible for the spatial data acquisition using sonar sensors and constructing a sonar occupancy map have been developed. The simulation results showed that the ATRV-mini robot is capable of learning metric maps of potential navigation areas.

Keywords: Mobile Robot, ATRV-mini, navigation, Fuzzy controller, Map Learning

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ABOUT THE AUTHORS

Basem Ibrahim
Electronics Research Institute Giza, Egypt

Abeer Hamdy
Faculty of Informatics and Computer Science, British University in Egypt, & Computer and Systems Department, Electronics Research Institute Egypt

Nevien Darwish
Faculty of engineering,Cairo University Giza, Egypt


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