基于参数驱动机制的服务机器人任务自动组合方法  

An automatic approach for service composition of service robots based on parameter-driven mechanism

作　　者：路飞[1] 李健[1] 田国会[1] 刘志勇[1] 宋沐民[1] 

机构地区：[1]山东大学控制科学与工程学院,济南250061

出　　处：《高技术通讯》2014年第2期157-164,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(61305122;61075092);863计划(2009AA04Z220);山东省博士后创新基金(201203059);山东大学自主创新基金(2012TS077;2011JC017)资助项目

摘　　要：进行了动态环境下服务机器人如何根据环境信息的变化来提供主动、智能式组合服务的研究。在智能空间技术的支持下,利用智能空间中各个智能传感设备所提供的参数信息及环境上下文感知,建立了基于参数驱动的服务机器人任务自动组合框架,构造了实现服务机器人的任务规划流程快速服务组合(FSC)算法,使机器人具备根据场景来自动实现任务组合、分配的能力,提高机器人服务的智能性和服务质量。从系统基本性能、算法的快速性以及在突发事件发生时算法的响应速度三个角度对FSC算法进行仿真、测试比较,仿真结果验证了该方法的可行性、有效性和可实现性。The problem that how service robots in dynamic environments can provide autonomous and intelligent composi- tion services according to the variation of acquired environmental information was studied. Under the support of an intelligent space, a parameter-driven framework of automatic service composition for service robos was built by using the parameter information provided by the intelligent sensors and the context-awareness to environment. A fast serv- ice composition（FSC） algorithm was designed to realize the robots＇ task planning, so the ability to dynamically com- pose and deliver services under this framework was given to the service robots, and the service intelligence and serv- ice quality were improved correspondingly. The simulation and test to the FSC algorithm were done in terms of the system＇s basic performance, the algorithm＇ running speed and responding speed to emergency, and the simulation result showed the reliability and effectiveness of this algorithm.

关 键 词：智能空间 环境上下文感知 参数驱动 服务自动组合框架 服务质量 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]