Abstract: The key point to consider in the field of home service robots task planning is the optimization ability of multi-tasks and emergency tasks. According to the fact that the JSHOP2 planner is unable to optimize multi-tasks’ execution order, an improved JSHOP2 planner is built to realize multi-tasks optimization. Through considering the characteristics of the service tasks in home environment, all the service tasks that can be executed by robot are classified and assigned priority. According to the priority, the improved JSHOP2 planner is built. The simulation results show that the improved JSHOP2 planner is feasible and can improve the intelligence and emergency response ability of home service robots.

Key words: JSHOP2 planner, service robots, multi-tasks optimization, task priority

摘要： 家庭服务机器人在进行任务规划时，对环境中的多任务，包括紧急任务的优化能力是机器人任务规划领域需要考虑的重点。根据JSHOP2规划器不能实现多任务执行顺序优化的缺点，提出了用改进的JSHOP2规划器实现机器人多任务的优化。针对家庭环境下服务任务的特点，对家庭环境下机器人可执行的所有任务分类并分配优先级；在此基础上，构建改进的JSHOP2规划器，实现根据优先级的大小进行任务的优化调度。仿真结果表明该方法能够实现多任务的优化，有效提高了机器人家庭服务的智能性和应急响应能力。

关键词: JSHOP2规划器, 服务机器人, 多任务优化, 任务优先级