本体知识表示方法在机器人领域的应用研究综述

doi:10.11959/j.issn.2096-6652.202224

Abstract

Abstract:

The technology about knowledge representation plays an increasingly important role in the autonomous operation of robots facing the complex and unstructured working environment.Knowledge representation focuses on the model of knowledge symbols and how to realize knowledge processing through reasoning procedures automatically.The robot knowledge representation framework and the latest application progress based on ontology representation and reasoning were reviewed.The technical background, realization methods of knowledge representation and reasoning, and recent research progress in the robotics field were summarized from deterministic knowledge and uncertain knowledge.And the future research direction of knowledge-enabled robots was predicted.

Key words: knowledge representation, knowledge reasoning, ontology, knowledge-enabled robot

CLC Number:

TP242.6

Yueguang GE, Shaolin ZHANG, Yinghao CAI, et al. A survey on applications of ontology knowledge representation in robotics[J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(2): 212-222.

Figures/Tables 6

References 76

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网络本体语言表示	描述逻辑表示	范例
Thing	F	-
Nothing	⊥	-
intersectionOf	C₁∩…∩C_n	人类∩男性
unionOf	C₁∪…∪C_n	医生∪律师
complementOf	?C	?男性
oneOf	{x₁…x_n}	{约翰,玛丽}
allValuesFrom	?r.C	?有孩子.医生
someValuesFrom	?r.C	?有孩子.律师
hasValue	?r.x	?……的公民.美国
minCardinality	(≤ nr)	(≤ 2有孩子)
maxCardinality	(≥nr)	(≥ 1有孩子)
inverseOf	r^-	有孩子^-
subClassOf	C₁?C₂	人类?动物∩双足
equivalentClass	C₁≡ C₂	男人≡人类∩男性
subPropertyOf	P₁?P₂	有女儿?有孩子
equivalentProperty	P₁≡ P₂	成本≡价格
disjointWith	C₁? ?C₂	男性? ?女性
sameAs	{x₁} ≡ {x₂}	{布什总统}≡{乔治·沃克·布什}
differentFrom	{x₁} ??{x₂}	{约翰}? ?{彼得}
TransitiveProperty	P传递角色	有祖先
FunctionalProperty	T? (≤1P)	T? (≤1有母亲)
InverseFunctionalProperty	T? (≤1P^-)	T?(≤1母亲^-)
SymmetricProperty	P ≡ P^-	兄弟≡兄弟^-

A survey on applications of ontology knowledge representation in robotics

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