A Semantic Approach for the Inspection of Complex Environments with Autonomous Service Robots
Jahr:
2008
Autoren/Hrsg:
M. Ziegenmeyer, K. Uhl, S. Sayler, J. M. Zöllner, R. Dillmann
Publikationstyp:
Kongressbeitrag/Proceeding
Quelle:
Proceedings of IARP Workshop on Environmental Maintenance & Protection, July 22-23 2008, Baden-Baden, Germany
URL:
http://www.fzi.de/downloads/ids/publications/2008-07-IARP-SemanticInspectionApproach-ZiegenmeyerUhl/ziegenmeyer-iarp2008.pdf
Abstract:
The inspection of complex environments is a challenging task for autonomous service robots. An autonomous inspection robot should actively examine entities of interest (EOIs), e.g. defects, and should take additional inspection actions if the data analysis results are uncertain. The selection of these actions should be driven by the assessment of the individual circumstances. In this paper a semantic approach for inspection planning, assessment of the data analysis results, decision making and replanning is investigated. For the experimental evaluation of this approach the detection and classification of waste on irregular terrains with the hexapod walking machine LAURON is chosen. First preliminary simulation results are presented.
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