ОНТОЛОГИЧЕСКИЙ ПОДХОД В СОЗДАНИИ РОБОТОТЕХНИЧЕСКИХ КОМПЛЕКСОВ С ПОВЫШЕННОЙ СТЕПЕНЬЮ АВТОНОМНОСТИ

Abstract

The aspects necessary for the implementation of robotic complexes with an increased degree ofautonomy (RC with IDA) in practical work are considered. The distinctive features of such complexes,the needs of the corresponding intelligent information control systems (IIСS) are indicated. The requirementof situational awareness is highlighted and, as a consequence, the need for a diverse systemof knowledge representation, means of perception of the external environment and comparison of operationalinformation with models and a priori information about this environment. In addition, it is pointedout the need to automate the processes of creating RC with IDA, accessibility, and simplification of theiruse. In order to answer these questions, the paper proposes to use the concept and mechanisms of ontologiesin relation to autonomous robotics. Examples of existing solutions in this area are given. In robotics,ontologies are used to define and conceptualize knowledge accepted by the community, using aformal description that is machine-readable, shared, and contains the flexibility to justify this knowledgein order to derive additional information. Ontologies are of considerable interest for multi-agent systemsfor organizing interaction between agents and with other systems in heterogeneous environments,the possibility of reuse and support for the development of new RCs. The author describes the constructionof an ontology proposed by the author in such an applied field as information support for targetedmovements of autonomous ground vehicles based on technical vision systems. All consideration is conductedin the configuration space of the information and control systems of the RC with IDA. This spaceallows you to aggregate a large number of different technologies used in the construction of RC. Theembodiment of a particular system in this space corresponds to the "assembly point". The coordinationof the forms of knowledge representation in the IICS is ensured by the consistent consideration of planesin this space. As a connecting link – a means for automated translation of descriptions of descriptiveontologies into descriptions of functional, machine-readable ontologies, the use of the language of information-motor actions and interpretive navigation commands is proposed. In conclusion, the shorttermprospects for the development of the described approach are considered, and wishes are expressedto the domestic community of roboticists.