Semantic Knowledge-Based Mission Planning Method According to Robot Characteristics in Outdoor Environment

In the field of robots, many studies have been proposed to introduce advanced cognitive science into robot systems based on existing numerical information. These research directions allow robots to utilize their knowledge to simplify, understand, and efficiently plan their tasks. In this paper, we propose a semantic knowledge-based robot mission planning method in an irregular three-dimensional environment. We introduce an advanced robot mission planning method that defines the knowledge of robots and driving places based on ontology and utilizes the defined semantic knowledge. To this end, we define a robot domain based on Planning Domain Definition Language (PDDL) and solve it through a classical planner to plan the mission. Finally, we validate the suitability of the proposed method by conducting experiments with real-world robots within the campus environment and comparing them with general PDDL-based methods.