项目名称: 面向服务质量和突发事件应急响应的服务机器人任务规划问题研究
项目编号: No.61305122
项目类型: 青年科学基金项目
立项/批准年度: 2014
项目学科: 自动化技术、计算机技术
项目作者: 路飞
作者单位: 山东大学
项目金额: 25万元
中文摘要: 对于面向家庭、助老助残领域的服务机器人,在进行任务规划时,服务对象"人"对机器人任务完成的满意度以及机器人对环境中突发事件的应急响应能力是应着重考虑的两个问题。本课题旨在智能空间技术支持下,针对上述两个重要问题,探索并建立动态环境下基于"机器人-智能空间"交互的、具有闭环控制特征的服务机器人自主任务规划方法。课题首先研究智能空间中多源、异构信息的感知与共享、基于分布式数据融合树机制的信息融合算法,以智能空间技术为依托,扩展机器人对环境信息的感知范围和信息获取的准确度;其次研究基于多源感知共享信息的服务机器人任务规划联合决策模型,制定任务执行的全局最优策略,实现面向复杂任务的多级智能融合与联合决策的收益最大化或代价最小化,提高机器人服务质量;最后研究机器人任务执行过程中任务改变或发生突发事件时,基于"机器人-智能空间"交互的任务在线再规划与调整策略,提高机器人对环境变化的应急响应能力。
中文关键词: 服务机器人;智能空间;任务规划;服务质量;应急响应
英文摘要: Under the environment of family or helping aged and disabled, human's satisfaction to robot's service and the emergency response ability of service robot to sudden events are two important problems should be considered strongly in the research of service robot's task planning. The objective of this project is: with the support of intelligent space technology, based on the interaction of robot-intelligent space,explore an optimal method of robot's autonomous task scheduling which has the closed-loop character in dynamic environment. First, study information perception sharing technology and the information fusion algorithm based on distributed data fusion tree, expand robot's environment perception scope and the accuracy of the obtained information; Then, in order to improve robot's service quality, build the joint decision model of task planning, make the global optimal strategy, minimize the optimal cost; Last, oriented to task changing or sudden events occurring, study the strategy of task rescheduling based on the interaction of robot-intelligent space, improve robot's response ability to the changed environment.
英文关键词: service robot;intelligent space;task planning;service quality;emergency response