The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2015
Session ID : 2A2-L06
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2A2-L06 Mapping Landmarks in Structured Indoor Environments by using RDF data models and SPARQL engine based navigation
Arturo E. CERON LOPEZ, Cesar A. HERNANDEZ REYES, Carlos W. PONCE QUIROGA, Martha S. LOPEZ DE LA FUENTE, Edwardo F. FUKUSHIMA
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Keywords: navigation, landmark mapping, structured environment model, RDF
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Abstract
This work proposes a method for mapping landmarks within structured indoor environments to enable robots to understand its surroundings and move through them. A new approach based on the RDF, which simplifies the implementation of the knowledge database system, is introduced and a navigation algorithm is derived from a SPARQL engine. The total navigation system was implemented, tested and validated using OpenRTM-aist, voice operated commands, and the V-REP simulator.
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© 2015 The Japan Society of Mechanical Engineers
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