Path Planning by Spatial Concept-Based Probabilistic Inference from Human Speech Instructions

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.