Home service robot task planning using semantic knowledge and probabilistic inference

摘要

In the face of unstructured home environment, home service robots are inevitably confronted with uncertainty and incompleteness of environment information. How to make the home service robot obtain enough environment information and plan a discrete sequence of actions through task planning is the key problem of robot intelligence. In this paper, a hierarchical task network based on semantic knowledge and probabilistic inference method is proposed. We use the object location ontology, the location relation between dynamic and static objects to build semantic knowledge of home environment, and build the probability model between dynamic and static objects, as well as between static objects and home scenes. The location of the object is determined by the semantic knowledge and the probability model. Hierarchical task network is selected as an engine of task planner, which can be provided with the location information to improve the autonomy and effectiveness of robot task planning. In order to prevent task execution failure and enhance the adaptability of robot to unstructured home environment, a mechanism of task execution diagnosis and replanning is designed. Experimental results in simulation and real home environment demonstrate that our method can effectively improve the performance of service robot task planning and generate better task execution sequence.