Presentation information

General Session

General Session » [GS] J-11 Robot and real worlds

[1L3-J-11] Robot and real worlds: recognition and movements

Tue. Jun 4, 2019 3:20 PM - 5:00 PM Room L (203+204 Small meeting rooms)

Chair:Felix Jimenez Reviewer:Shinobu Hasegawa

4:00 PM - 4:20 PM

[1L3-J-11-03] Path Planning by Spatial Concept-Based Probabilistic Inference from Human Speech Instructions

〇Akira Taniguchi1, Yoshinobu Hagiwara1, Tadahiro Taniguchi1, Tetsunari Inamura2,3 (1. Ritsumeikan University, 2. National Institute of Informatics, 3. The Graduate University for Advanced Studies)

Keywords:Path Planning, Navigation, Probabilistic Inference, Spatial Concept

The aim of this study is to enable a mobile robot to perform navigation tasks by probabilistic inference using spatial concepts on a probabilistic model. Specifically, path planning is performed to the target state of a spatial concept estimated through human speech instructions such as ``Go to the kitchen''. In the experiment, places instructed by the speech command of the user showed high probability values, and the trajectory toward the target place was correctly estimated.