关键词: 人机交互, 语义地图, 机器人导航, 逻辑编程

Abstract: It is the semantic understanding that makes the main difficulty for the interaction between the operator and the remote robot through natural languages. This paper establishes the concept system for human robot interaction (HRI) based on ontology, and the concepts are defined with Prolog programming language, which forms the rules to be referred to as the semantic contents of the concepts. Predicates of logic relations of concepts are designed based on the rules, which is the basis of reasoning mechanism based on concepts. Then the human-robot interaction works on the consensus meanings of concepts and logics of reasoning basis. The background of this work is the navigation of an indoor mobile robot remotely instructed by an operator with natural spoken language. An ontology is established for the place names of a building, based on which are the Prolog facts. Predicates of logic relations are designed for the purpose of navigation through reasoning, namely, predicate for extracting the semantic map, predicate for self-  localization of the robot, predicate for path planning. This paper works as a successful case study of realizing logic reasoning of robots through an ontology of concept system. All the predicates are based on real data of a building and work well on SWI-Prolog. The reasoning results are just expected.

Key words: human robot interaction, semantic map, robot navigation, logic programming