원문정보
초록
영어
It has been shown in recent research that integrating the JSHOP2 planner with service robot task planning is appropriate and efficient. However, only few researches demonstrate the application of JSHOP2 planner in the problem of multi-tasks planning. The main reason is the environment that a service robot acts in is complex and the existing JSHOP2 planner is unable to adjust tasks’ order. To solve this issue, in this paper, an improved JSHOP2 planner integrated with robot task planning is built. To make the tasks execution sequence more acceptable to users, different priorities are assigned to all the service tasks through comparing the characteristics of the tasks. According to the priority, the improved JSHOP2 planner is built. The simulation results show that the improved JSHOP2 planner is feasible and can improve the intelligence of service robot task planning.
목차
1. Introduction
2. JSHOP2 Planner Integrated with Robot Task Planning
3. Multi-Tasks Optimization Using Improved JSHOP2 Planner
3.1. Problem Description
3.2. Task Priority Assignment
3.3. Improved JSHOP2 Planner Principle
4. Simulations and Results
5. Conclusion
Acknowledgements
References