Organization and structure of a combined map of an operating environment of a service robot

This work is a part of a project to develop the onboard control system of mobile service robot RB-2, mounted with a manipulator. It describes map — a “2.5D model” of the robot's operating environment with simplified description of the vertical dimensions of the model objects. This paper introduces the concept of Ortoframe as a key model element, describes its basic parameters, by which the model exists as a combination of metric, topological and semantic models. The paper also examines the structure of the object model of the operating environment as a combination of Ortoframes, describes the relationship between the model objects, geometric and topological relationships between them. Examples of construction of object semantic descriptions and semantic relationships between objects are presented. A procedure for planning robot's movement is described.