基于本体的无人系统任务规划研究综述

doi:10.12305/j.issn.1001-506X.2022.03.23

摘要/Abstract

摘要：

作战知识是提高无人系统的自主作战能力的重要因素。如何系统规范地存储和表示作战知识, 使无人系统能够根据高层任务指令, 自主完成任务规划, 并基于不断更新的战场知识进行重规划和智能决策, 是一个新的研究领域。首先, 通过对任务规划领域概念、规划方法和知识表示方法的梳理, 提出了基于本体的任务规划框架。然后, 总结了本体在机器人、无人系统、军事任务规划等领域的应用情况, 分析了当前研究的特点和不足, 并提出了该领域的重要研究方向。最后, 针对构建无人系统任务规划本体时应遵循的原则和需要关注的关键能力指标进行了论述。

关键词: 本体, 任务规划, 智能规划, 无人系统

Abstract:

Operational knowledge is an important factor to improve the autonomous operational capability of unmanned systems. How to store and represent operational knowledge systematically and normatively, so that unmanned systems can autonomously complete mission planning according to the high-level task instructions, and carry out task planning and intelligent decision making based on constantly updated battlefield knowledge, is a new research field. Firstly, an ontology-based task planning framework is proposed by summarizing the concept, planning method, and knowledge representation method of task planning domain. Then, the application of ontology in robot, unmanned system, military mission planning, and other fields is summarized. The characteristics and shortcomings of current research are analyzed. And the important research direction of this problem is proposed. Finally, the principles that should be followed and the key capabilities that should be paid attention to when constructing the task planning ontology of unmanned system are discussed.

Key words: ontology, task planning, intelligent planning, unmanned systems

中图分类号:

TP301.6

庞维建, 李辉, 黄谦, 李朋, 马贤明. 基于本体的无人系统任务规划研究综述[J]. 系统工程与电子技术, 2022, 44(3): 908-920.

Weijian PANG, Hui LI, Qian HUANG, Peng LI, Xianming MA. Review on ontology-based task planning for unmanned systems[J]. Systems Engineering and Electronics, 2022, 44(3): 908-920.

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名称	规模	应用领域	表示方法	知识推理
RoboBrain	超大规模	服务型机器人	Graph structure	Robot Query Language (RQL)
KnowRob	小型	服务型机器人	Web OWL	SWI-prolog
RoboEarth	大规模	服务型机器人	OWL	Rapyuta
文献[61]中的知识引擎	小型	服务型机器人	OWL	HermiT
ORO	大型	机器人社区	OWL	Pellet
PMK	小型	机械臂	OWL	SWI-prolog
RTPO	小型	服务型机器人	OWL	SWI-prolog
ICA	小型	无人潜航器	OWL	-
空间站任务本体	小型	空间站	OWL	-
SWARMs	小型	海洋无人装备	PR-OWL	Pellet
无人驾驶汽车	小型	无人驾驶	OWL	SWI-prolog

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