JACIII Vol.26 No.3 pp. 315-324
doi: 10.20965/jaciii.2022.p0315


Fast Search Strategy for Robots in Dynamic Home Environment

Yuhao Wang, Hao Wu, Guohui Tian, Guoliang Liu, Fei Lu, and Yanyan Wang

School of Control Science and Engineering, Shandong University
No.17923 Jingshi Road, Lixia District, Jinan, Shandong 250061, China

Corresponding author

October 26, 2021
February 14, 2022
May 20, 2022
search strategy, prior knowledge, probabilistic model, ontology technology, probability update

In an unstructured home environment, environmental information is mostly disorganized. It is difficult for a service robot to obtain sufficient service information, which significantly hinders task execution. To solve this problem, a new object search strategy is proposed for improving the speed and accuracy of object search in a complex family environment. In this method, a family-environment knowledge graph is constructed using real environmental information and human knowledge, which plays a guiding role in task execution. The home environment is divided into three levels: functional rooms, static objects, and dynamic objects. The co-occurrence probabilities are obtained from open knowledge sources, including the probabilities between static and dynamic objects and between static objects and functional rooms. They are combined with ontology knowledge based on the home to form prior knowledge of a service robot. Inspired by the human search process, a distance function is introduced to calculate the distance between the robot and target objects for optimizing the search strategy. To improve the robustness of robotic services, we designed a probabilistic update model based on the service tasks and knowledge databases. Experimental results indicated that the proposed search strategy can significantly shorten the search time and increase the search accuracy compared with methods without prior knowledge and the distance function.

Search system structure

Search system structure

Cite this article as:
Y. Wang, H. Wu, G. Tian, G. Liu, F. Lu, and Y. Wang, “Fast Search Strategy for Robots in Dynamic Home Environment,” J. Adv. Comput. Intell. Intell. Inform., Vol.26 No.3, pp. 315-324, 2022.
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