| With the social aging problems, intelligent home service robot for the elderly hasattracted wide attention. The nature of home service is that the robot can humanized solvevarious tasks which people assigned to. However, the complex home environment anddiverse service task become a great challenge for service robot to solve problems.To intelligently solve the task for home service robots, this paper focus on taskplanning problem of intelligent home service robot based on holographic map. It mainlyincludes task decomposition, task allocation and path planning.Firstly, based on the way of human problem solving, we establish a perfect repositoryand design a knowledge model including fact and rules. Then combined with the divideand conquer and recursion method, we provide three principles that decompose complextasks into simple atomic task.Secondly, in order to solve the single service robot service capacity problem, weextend the number of the home service robot. The simple atomic tasks assigned to aplurality of service robots joint implementation, thereby improving the efficiency ofservice. In addition, according to the family environment in the human task timeuncertainty and certain dependencies between several simple atomic task decomposed bythe same complex tasks, we establish the mark off decision model for task allocationproblem, improving the overall efficiency of service robot system.Finally, based on the standard particle swarm optimization algorithm, we increase thenumber of swarm, and provide the double Particle Swarm Cooperative Optimizationalgorithm, used in home service robot path planning problem. At the same time, takinginto account the robot moving process of inertia, we improve the traditional method ofpath planning for robots whose result is line leading to the low efficiency. By usingHermite interpolation, the final design of the robot path is a smooth curve connectingseveral segments, so that the path planning results have a stronger sense of reality. |
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