Method and device for handling with task planning and execution exception of mobile robot

A mobile robot, task planning technology, applied in machine execution devices, electrical digital data processing, instruments, etc., can solve problems such as planning failure, safety hazards, behavior execution failure, etc., and achieve the effect of improving robustness and robustness

Active Publication Date: 2016-08-24
SOUTHEAST UNIV
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  • Abstract
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Problems solved by technology

However, due to the dynamics and complexity of the mobile robot's working environment, the mobile robot planning and execution system may cause abnormal situations such as planning failure, behavior assign

Method used

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  • Method and device for handling with task planning and execution exception of mobile robot
  • Method and device for handling with task planning and execution exception of mobile robot
  • Method and device for handling with task planning and execution exception of mobile robot

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Embodiment Construction

[0031] The present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments.

[0032] The present invention provides a mobile robot task planning and execution abnormal situation processing method, such as figure 1 , see the specific process of the system figure 2 . Such as figure 1 As shown, the system operation process can be divided into three main processes: task planning, behavior allocation and behavior execution. Among them, the task planning unit mainly solves the modeling planning problem, and then the behavior allocation unit sequentially allocates the planning results, and the behavior execution unit is the specific implementer. Corresponding to the three main processes, there are situations that may lead to abnormal operation of the system, namely, planning failure during the task planning period, allocation failure during the behavior allocation period, and execution failure during the behavior execution...

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Abstract

The invention provides a method and a device for handling with task planning and execution exception of a mobile robot, and relates to mobile robot operation under a distributed intelligent environment, so as to cope with abnormal conditions occurring to robot system operation. The method provided by the invention mainly comprises the following steps of: step 1, detecting and coping with task planning failure; step 2, detecting and coping with behavior distribution failure; and step 3, detecting and coping with behavior execution failure. According to the method for handling with task planning and execution exception of the mobile robot, the characteristics of the intelligent environment are comprehensively considered, task planning and execution exception is coped from the aspects of scientific research and market requirements, so that the method provided by the invention is capable of effectively improving the robustness and vigorousness of the system.

Description

technical field [0001] The invention relates to the field of task planning and execution of a mobile robot, in particular to a method and device for handling abnormal situations of task planning and execution of a mobile robot. Background technique [0002] Task planning refers to the effective organization of a series of behavioral actions to accomplish a specific goal. To a certain extent, task planning marks the intelligence level of the robot. In order for robots to truly enter production and life, to live in harmony with people, and to provide intelligent services, robots must have the ability to plan autonomous tasks. [0003] The robustness and robustness of the planning and execution system is an important criterion for system design, and it is also an important guarantee for the normal operation and work of the system. However, due to the dynamics and complexity of the mobile robot's working environment, the mobile robot planning and execution system may cause abn...

Claims

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Application Information

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IPC IPC(8): G06F9/30
CPCG06F9/30003
Inventor 房芳马陈强钱堃马旭东
Owner SOUTHEAST UNIV
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