ROS Based Multiple Service Robots Control and Communication with High Level User Instruction with Ontology

摘要

Human Robot Interaction (HRI) is one of the biggest research field in the Robotics research world. Understanding the semantic meaning of the user instruction is very important to establish the communication between user and robot. When a user instructs to all heterogeneous service Robots with high level instructions who are working at different locations in smart house, all robots need to operate by understanding the semantic of the instruction and complete the task uniformly without considering underline software and hardware implementations. Ontology is used to extract the semantic meaning of the instructions. Each robot is assigned a specific task for specific time period for each day. User can issue commands to all robots at different time slots but the same command can be issued with different sentence by different users. We have used ontology to represents the semantic of the sentence with different commands. We have used three robots (TurtleBot, TiaGo and Husky) for our experiment in Gazebo simulator. Robot Operating System (ROS) is the middleware which is hiding more complex implementation of different functions for different robots and provide the interoperability for heterogeneous robot operations. The ROS nodes and topics can be different for different robots, therefore our implementation can solve this issue by autonomous robot registration algorithm which is working with Robot ontology.