基于“原型”的机器人开放式室内场所感知算法

Open Interior-Places Perception Algorithm of Robot Based on Prototype

随着现代开放式室内设计理念的流行,一些功能场所逐渐转变为开放或半开放式,对这类场所的认知成为服务机器人面临的新挑战.文中提出一种基于认知心理学原型理论的算法来提高机器人对开放式室内场所的认知能力.首先,设计场所概念的原型模型,主要包括场所概念的特征物品描述和物品间典型空间关系描述.然后提出一种相似性度量函数及一种空间关系评分准则,将两者用于度量当前环境与场所概念原型的相似程度.最后,讨论场所区域感知问题及区域交叠对场所概念感知的影响.仿真实验表明,该算法能够解决对开放式室内场所的感知,具有一定灵活性和鲁棒性.

As the open idea becomes popular in modern interior design,some function places are gradually transformed into open or half-open places,and the cognition of these types of places becomes a new challenge to service robots.An algorithm based on the prototype theory of cognitive psychology is proposed to improve the robots＇ ability of open interior-places cognition.Firstly,the prototype model of place concept is designed,and it mainly includes a description about feature objects belonging to a place concept and a description about typical spatial relation among these objects.Secondly,a similarity measure function and a scoring criterion for spatial relation are proposed,and they are used to measure similarity between current environment and prototypes of place concepts.Finally,the perception toward place region is considered,and the influence on place-concepts perception is also discussed which is caused by overlap of place regions.The algorithm is verified through simulation,and the results suggest that the open interior-places perception can be achieved by the proposed algorithm.Moreover,it is flexible and robust to some extent.