Open AccessThe simulation of a service robot for task planning
Author(s) -
Guowei Cui,
Wei Shuai,
Xiaoping Chen
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1887/1/012012
Subject(s) - computer science , robot , task (project management) , usability , human–computer interaction , service (business) , construct (python library) , set (abstract data type) , service robot , semantic mapping , legibility , motion planning , artificial intelligence , engineering , programming language , systems engineering , art , economy , economics , visual arts
This paper introduces a simulation for service robots based on Robot Operating System (ROS) and Gazebo. It aims to test and evaluate task planning algorithms. After building the environment and the service robot model, a 2D map is built. To make use of semantic navigation, we construct a topological map from the 2D map. Several functions are written to realize the robot’s necessary actions, including navigation, grasping, placing, handing over, and searching person/object. Answer Set Programming (ASP) is used for planning; due to its complicated coding and poor legibility, we define an easy to understand format and translate it into ASP. Finally, we test our task planning system within the uncertain Gazebo environment. The experimental results show the usability of the simulation for task planning tests.