Mobile robot task planning system design in intelligent environments

摘要

According to the application requirements for mobile robot, the robot task planning and control mechanism in distributed intelligent environments is studied. The model building method and the logical hierarchy of this system is put forward. And the general task planning and execution system architecture is studied and established in dynamic intelligent environments in order to enhance the service ability of the robot. According to the needs of autonomous system, extended hierarchical task planning model for robot's autonomous task accomplishment will be studied. And efficient optimal introductory task resolver algorithm based on task nets and methods of converting task dispatching scheme to robot's action sets will be proposed. Planning and execution system software development and implementation of autonomous robotic system's typical service applications will be realized. The related experiments will also be conducted in order to verify the feasibility and effectiveness of the system.