This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding performed using Dijkstra's algorithm. A predictive module that uses probabilistic model checking is applied to estimate the human's movement through the environment, allowing run-time re-planning of the robot's path. We illustrate the use of the framework for a simulated assistive-care case study in which a mobile robot navigates through the environment and monitors an end user with mild physical or cognitive impairments.
翻译:本文“ 研究预览” 论文引入了用于辅助护理应用的机器人任务执行的适应性路径规划框架。 框架提供了一个基于图表的环境建模方法, 使用 Dijkstra 的算法进行动态路径定位。 使用概率模型检查的预测模块用于估计人类在环境中的移动情况, 允许运行时间对机器人路径进行重新规划 。 我们演示了使用模拟辅助护理案例研究框架的情况, 在模拟辅助性案例研究中, 移动机器人在环境中导航, 并监测有轻微物理或认知缺陷的终端用户 。