智能空间下基于分层任务网络的服务机器人任务规划

针对在复杂、动态的家庭环境下,如何让机器人获取足够多的环境信息并根据环境信息进行自主的任务规划,提出了智能空间技术支持下基于分层任务网络的服务机器人任务规划方案.利用智能空间技术为机器人提供充足的环境上下文信息,用基于分层任务网络设计的JSHOP2规划器执行机器人任务规划.为了提高机器人任务规划的自主性和智能性,在规划领域文件中加入不同的模板信息,使机器人具有根据环境的不同自动对任务进行调整的能力.仿真实验结果表明利用该方法能够有效地提高机器人任务规划的性能.

Task planning for service robot with hierarchical task network in intelligent space

To deal with the problem of how to collect sufficient environment information and make autonomous task planning for service robot in complicated and dynamic home service environment, we propose a task planning method based on hierarchical task network with the support of intelligent space technology. The context information in the environment is provided for the robot through intelligent space and the robot task planning is executed by the JSHOP2 planner. In order to improve the autonomous and intelligent ability of the task planning, we add different template information to the planning domain file. With this help, the robot can adjust the task automatically depending on the environment. Simulation experiment demonstrates that the proposed method is feasible and can improve the performance of robot task planning.