Research On Action Sequences Planning In Service Robot Simulation System

Robot technology is a rapid development of the comprehensive front subject, which is one of the highest science and technology human dream. Home service robot is the development direction of the robot as well as a breakthrough to further strengthen the robotics research in China. Home service robot in how to do autonomous decision-making can make the human separate themselves from tedious housework in the complex home environment,it will be a hot research topic.Answer set programming is a new nonmonotonic reasoning ability with knowledge representation and reasoning way, meanwhile it is also a problem solving tool. Answer set programming is a descriptive programming language, it just use a specific language to descibe the problem correctly and completely. It does not require programmers to write specific algorithm to solve the problem, you will get the results by calling the Answer Set Solver. Answer set program is a descriptive programming language, so it has a high expansibility. When the practical problems change, only need to modify the description of the problem, without modifying the program code to get the desired results.The current program development bottleneck of Answer set of programming is efficiency, the larger scale in solving the problem, the longer the time needed. Answer set of programming applications, and improve problem-solving answer set program efficiency is the research focus of the current answer set theory.Based on the Service robot simulation platform for the research platform and Anhui University DreamWingHome team development and construction as the research background, the main action sequence planning based on the service robot of answer set programming. The main work of this paper is as follows:1.Analysis of the characteristics of the natural language vocabulary, and use keyword matching method to deal with natural language, to transform it into a command language in order to make robot understand better,(answer the transformation of the set of procedural rules).2.According to the service robot3D model’s feature, service robot action sequence planning (scene description, task description, the atomic action) will be converted into the form of answering set programming, and will call answer set solver iclingo for solution. The experiment has proved that answer set programming is convenient and efficient in solving the optimal action sequence, but it may not solve action sequences in acceptable time.3. To further improve the efficiency and reliability of the answer set solving action sequences. Divided search space to filter out some information which is irrelevant to the task, reducing the answer set solver to solve the space complexity of the answer set, increasing the efficiency of problem solving. If the action sequences can not be solved during the acceptable time, then you can use a strategy to solve,and ensure that the task has a completion rate. This strategy for solving does not guarantee to get the optimal action sequence.On the basis of the above work, I realized the design of Anhui University DreamWingHome team program,and finish the task better,besides, achieved good results.