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一种面向室内智能机器人导航的路径自然语言处理方法

DOI: 10.3724/SP.J.1004.2014.00289, PP. 289-305

Keywords: 自然语言处理,机器人导航,层叠条件随机场,贝叶斯推理

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Abstract:

?为了实现通过自然语言指导机器人导航的目的,提出了一种利用描述路径的自然语言直接绘出机器人运行路径的方法.为了提高机器人对路径自然语言的理解,采用了基于组块的分析方法.首先深入地研究了收集到的路径描述的自然语言语料库,总结出了语义和句法的对应关系.在此基础上,构造了层叠条件随机场,通过采用组块分析方法,先进行名词短语组块的提取,然后提取语义组块.为了解决名词短语的解析问题,引入了名词实体关系推理方法.并且在提取出的语义组块的基础上逐个建立路径单元,组成完整的路径信息.最后,给出了自然语言处理各个环节的实验结果,并结合具体语句展示了从文字到机器人导航地图的映射过程,对开展人机交互式和谐导航具有重要意义.

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