Abstract
Complexity and uncertainty of service environment where mobile robots work greatly challenge the performance of robot task planning system. In this paper, an effective and flexible task planning system of mobile robots is designed in distributed service framework with Robot Operating System (ROS). The first part of this paper is the design of system architecture. Then, the logical description tool Planning Domain Definition Language (PDDL) is used to describe the task dynamically based on the designed knowledge base and distributed sensing. In addition, a flexible and stable planning module is designed which combines Forward-Chaining Partial-Order Planning (POPF) planner, post-process, action dispatcher and exceptions handling programs. Lastly, the experiment results in distributed service framework of the task planning system are presented, proving the feasibility of the design.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.