High-Level Smart Decision Making of a Robot Based on Ontology in a Search and Rescue Scenario
Abstract
:1. Introduction
2. Ontology in SAR Scenario
2.1. The Definition
2.2. The Ontology in SAR
- Class: RescueJack
- SubClassOf:
- SubRescueTasks
- (subAction some FreeVictim)
- and (subAction some PickUpVictim)
- and (subAction some GetOutVictim)
- and (subAction some PutDownVictim)
- Class: RescueJack
- SubClassOf:
- SubRescueTasks
- (subAction some FreeVictim)
- and (subAction some PickUpVictim)
- and (subAction some GetOutVictim)
- and (subAction some PutDownVictim)
- and (orderingConstraints value RescueActions12)
- and (orderingConstraints value RescueActions13)
- and (orderingConstraints value RescueActions14)
- and (orderingConstraints value RescueActions23)
- and (orderingConstraints value RescueActions24)
- and (orderingConstraints value RescueActions34)
- Individuals: RescueActions12
- Types:
- PartialOrdering-Strict
- Annotations:
- occursAfterInOrdering PickUpVictim
- occursBeforeInOrdering FreeVictim
3. Methods
3.1. Reasoning Based on SWRL Rules
3.1.1. Structure and Syntax of SWRL Rules
3.1.2. The Constructions of SWRL Rules
- Extract the key rule knowledge of robot automatic search and rescue from relevant books, literature and manuals, and form the rule knowledge in the form of natural language;
- Declare this rule knowledge in the formal description language and specify the Precondition of the SWRL rule;
- Determine the types and instances of the concepts involved in the rule knowledge.
- Rule_1: If the initial position of SAR robot is the center of SAR map, the robot will perform the center search route.
- Rule_2: If the initial position of SAR robot is the Corridor of SAR map, the robot will perform the cross search route.
- Rule_3: If the initial position of SAR robot is the Room of SAR map, the robot will perform the square search route.
- Rule_1: WheeledRobots(?WR) ^ hasAbility (?A, ?WR) ^ Center(?ER) ^ hasPosition(?WR, ?ER) ^ SearchTask(?ST) ^ CenterSearch(?SR) -> ChooseSearchRoute(?SR, ?ST)
- Rule_2: WheeledRobots(?WR) ^ hasAbility (?A, ?WR) ^ Corridor(?ER) ^ hasPosition(?WR, ?ER) ^ SearchTask(?ST) ^ CrossSearch(?SR) -> ChooseSearchRoute(?SR, ?ST)
- Rule_3: WheeledRobots(?WR) ^ hasAbility (?A, ?WR) ^ Room(?ER) ^ hasPosition(?WR, ?ER) ^ SearchTask(?ST) ^ SquareSearch(?SR) -> ChooseSearchRoute(?SR, ?ST)
3.1.3. Robot Task Reasoning Based on JESS
3.2. Task Planning Algorithm Based on Ontology
Algorithm 1 An ontology-based task planning algorithm | |
Input: s: the initial state; t: the task reasoned by JESS; O: the ontology knowledge | |
Output:: A plan for accomplishing the t from the initial state; | |
1: | procedure generate a plan for accomplishing the t |
2: | . |
3: | function task_planning (t) |
4: | if t is a primitive task then |
5: | modify s by deleting del(t) and adding add(t) |
6: | append t to P |
7: | else |
8: | for all subtask in subtasks(t) do |
9: | if preconditions(subtask) matches the s then |
10: | task_planning (subtask) |
11: | return P |
12: | end procedure |
3.3. The Update of Ontology
4. A Study Case Based on the Semantic Model
4.1. Hardware and Software
4.2. A Study Case
5. Results
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Atom | Description |
---|---|
hasAbility(?A, ?WR) | WR has the A ability |
hasAction(?ST, ?WR) | WR performs the ST task |
hasPosition(?WR, ?ER) | WR locates in ER |
WheeledRobots(?WR) | WR is a wheeled robot |
ChooseSearchRoute(?SR, ?ST) | the ST task choose the SR search route |
Victims(?V) | V is a victim |
Center(?ER) | ER is the center of SAR map |
Corridor(?ER) | ER is the corridor of SAR map |
Room(?ER) | ER is the room of SAR map |
SquareSearch(?SR) | SR is the square search route |
CrossSearch(?SR) | SR is the cross search route |
CenterSearch(?SR) | SR is the center search route |
SearchTask(?ST) | ST is the search task |
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Sun, X.; Zhang, Y.; Chen, J. High-Level Smart Decision Making of a Robot Based on Ontology in a Search and Rescue Scenario. Future Internet 2019, 11, 230. https://doi.org/10.3390/fi11110230
Sun X, Zhang Y, Chen J. High-Level Smart Decision Making of a Robot Based on Ontology in a Search and Rescue Scenario. Future Internet. 2019; 11(11):230. https://doi.org/10.3390/fi11110230
Chicago/Turabian StyleSun, Xiaolei, Yu Zhang, and Jing Chen. 2019. "High-Level Smart Decision Making of a Robot Based on Ontology in a Search and Rescue Scenario" Future Internet 11, no. 11: 230. https://doi.org/10.3390/fi11110230