Port-based ontology behavioral graph modeling for climbing robot route planning

摘要

At present, ontology has been effectively used as an important means for describing component functional semantics in product development. Port has been paid an extensive attention in component modeling according to its interface. It is convenient to apply port-based ontology modeling to a stair climbing robot and implement the conceptual design. In this paper, at first, the functional semantic representation towards stair climbing robot and port complexity of port-based ontology are studied. The knowledge base, design rule base, component base, and function-behavior-structure framework are constructed. Secondly, the behavioral graph models of stair climbing robot are set up, and an algorithm with port-based ontology modeling is built to search the optimum route to reach the goal. And the multi-objectives of genetic algorithm are adopted to calculate Pareto solutions, and implement iterative search process and reconstruct robot climbing routes. Finally, a stair climbing route planning problem is illustrated to show its application.