自主移动机器人语义信息应用研究进展  

Application Research of Semantic Information in Autonomous Mobile Robots

作　　者：杨力鹏 任工昌[1] 刘朋[1] 胡小龙 YANG Li-peng;REN Gong-chang;LIU Peng;HU Xiao-long(College of Mechanical and Electrical,Shaanxi University of Science and Technology,Shannxi Xi'an 710021,China)

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021

出　　处：《机械设计与制造》2022年第6期270-273,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(51175314);西安市未央区科技计划(201914)。

摘　　要：语义信息应用研究是自主移动机器人在导航中实现智能任务规划基础研究的核心内容之一,它涉及到语义地图、语义定位、语义知识表示、语义推理等技术,它在移动机器人任务规划中起到人-机-环境交互的桥梁作用,让机器人具备人的视角去理解周围的环境、自主识别、推理和完成指定任务。重点从语义地图、语义定位和语义知识表示三个方面分析和总结语义信息在自主移动机器人导航过程中的应用,同时展望了语义信息在自主移动机器人导航应用中的发展趋势。The research of semantic information application is one of the core contents of the research on realizing intelligent task planning of autonomous mobile robot in navigation,which involves semantic map,semantic localization,semantic knowledge representation,semantic reasoning and so on.It acts as a bridge for human-machine-environment interaction in mobile robot task planning,enabling robots to have a human perspective to understand the surrounding environment,autonomously recognize,reason and accomplish specified tasks.The application of semantic information in autonomous mobile robots navigation is analyzed and summarized from the aspects of semantic map,semantic localization and semantic knowledge representation.At the same time,the development trend of semantic information in autonomous mobile robots navigation is prospected.

关 键 词：移动机器人 语义信息 语义地图 语义定位 语义知识表达 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]