Object-related-navigation for mobile robots

Motivated by cognitive considerations about human knowledge representation we introduce a new approach for robot motion planning and control. Instead of reasoning about positions in a global cartesian coordinate frame we utilize relative orientation and distance information between the robot and perceived objects in the environment. A representation built upon these considerations enables on the one hand a tight coupling between perception, planning, and robot control, while on the other hand a means for precise robot control is established. With our approach we try to encourage for a new view in robotic planning problems by illustrating how it allows for plan generation and execution in a human comprehensible fashion by incorporating plans like: ”Overtake vehicle X on the right side, then follow lane Y”.