Path Planning Knowledge Modeling for a Generic Autonomous Robot: A Case Study

Authors:
Rafael Guirado;Clara Marcela Miranda;José Fernando Bienvenido
Affiliations:
Departamento de Lenguajes y Computación, University of Almeria, Almería, Spain E-04120;Departamento de Lenguajes y Computación, University of Almeria, Almería, Spain E-04120;Departamento de Lenguajes y Computación, University of Almeria, Almería, Spain E-04120
Venue:
KES '09 Proceedings of the 13th International Conference on Knowledge-Based and Intelligent Information and Engineering Systems: Part II
Year:
2009

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Abstract

This paper presents the initial steps followed in order to build an ontology about robot navigation (including specifically alternative navigation algorithms). Tackling the problem from general to specific, we start analyzing the desired behavior for generic mobile robots, in order to get common tasks and methods. Then, we fix our attention into the agricultural spraying robot developed in the University of Almeria by a multidisciplinary team. Because the field of robot navigation is consolidated, there are many algorithms (methods) to perform same activities (tasks). Our goal is to build an ontology including all this alternative methods, applying the dynamic selection of methods to make decisions in real-time depending on the environment conditions. Here we show the task-method diagrams with the parameterized description of some of alternative methods, using Fitorobot as testing case.