Mobile robots represented by smart wheelchairs can assist elderly people with mobility difficulties. This paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots, which can assist users to implement accurate navigation (e.g., docking) in the environment without prior maps. In order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms, this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic goals. At last, comparative experiments were carried out in the real environment. Results show that our method is superior in terms of safety, comfort and docking accuracy.
ZHAO Yanfei1，2，3(赵艳飞)
,
XIAO Peng4 (肖鹏)
,
WANG Jingchuan1，2，3* (王景川)
,
GUO Rui4*(郭锐）
. Semi-Autonomous Navigation Based on Local Semantic Map for
Mobile Robot[J]. Journal of Shanghai Jiaotong University(Science), 2025
, 30(1)
: 27
-33
.
DOI: 10.1007/s12204-023-2678-8
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