Robotic Sequencing for Intelligent Mission Management

摘要

In this paper, an algorithm is presented that enables autonomous movement of a robotic vehicle based on an intelligent Human-Robot Interface (iHRI). This is a developing robotic system with dialogue and understanding capabilities in a limited Greek vocabulary. This additional feature presented in this work transforms the vehicle into a research tool that will participate in missions for actions at local points within an open area, either on land or at sea. These actions might include, for example, sampling soil, water, or air. The vehicle is capable of navigating through the area by recognizing various points with minimal voice commands from a human operator. Furthermore, the system, based on the intelligent Human-Robot Interface (iHRI) it possesses, is capable of calculating the order of movement to various points in the place. The correct order is considered to be visiting the nearest point first. This process is called sequencing. The order of the points is not followed during the motion planning, only for those points where a command specifies a time parameter. This is exactly the capability provided by this iHRI.