Extended POMDP planning method and system based on robot accompanying behavior model

• Main Authors: MAO XINJUN, CHEN GUOCHUN, WANG SHUO, BAI YANTAO, YANG SHUO
• Format: Patent
• Language: Chinese; English
• Published: 25.12.2020
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; PHYSICS

The invention discloses an extended POMDP planning method and system based on a robot accompanying behavior model, and the method comprises the steps: in a standard POMDP planning process, enabling atask action aT and an observation action aO to form an accompanying relation based on a matched predicate statement to form an accompanying behavior model when the invariant of the task action aT which is being executed is matched with a certain observation action aO; in the execution process of the task action aT, obtaining an observation value obs of the observation action aO; updating a systemknowledge base kb of the robot based on the invariance of the task action aT and the observed value obs; and judging whether the true value of the invariance in the knowledge base kb is false or not,and triggering task replanning if the true value is false. The method can effectively guide the observation and execution process of the robot in an open environment, supports the robot to effectivelyrealize tasks, and can be u