机器人感知系统本体模型研究

Research on robot perception ontology model

机器人感知系统对开放性和互操作性提出了越来越高的要求,统一的设计模型是接口定义和标准制定的基础。利用本体理论方法构建感知系统各模块本体,在此基础上建立传感器节点的UML关系图。将该模型应用到机器人足部感知系统中,显示了其在机器人感知系统可重用等方面的作用。该模型能够降低机器人开发成本,为建立具有广泛互操作性的机器人系统打好基础。

Robot perception has been developed rapidly with higher requirements for openness and interoperability, and unified robot perception design model is the foundation of interface definition and standardization. Ontology theory is applied to the modularization of robot perception. Based on that, UML diagram of sensor node were given. This model is applied to robot foot perception which showed that the model had powerful function,such as reusability, etc. It can reduce the cost of robot development and give a good foundation for development of robot with universal interoperability.