TITLE:
Sensor Robot Planning in Incomplete Environment
AUTHORS:
Shan Zhong, Zhihua Yin, Xudong Yin, Yufeng Yao
KEYWORDS:
Sensor, Robot Planning, Colored Petri Net, Action Sequence
JOURNAL NAME:
Journal of Software Engineering and Applications,
Vol.4 No.3,
March
18,
2011
ABSTRACT: Aiming at the former formalized methods of robot planning should give the environment state, can not obtain the new knowledge of the environment. In order to improve the reason ability for obtaining new knowledge of the environment state, the actions in the process of planning such as external action and sensing action are formalized. A formalized reasoning method—CPNI (Colored Petri Net for Planning in incomplete environment) based on two kinds of actions is proposed, and the reasoning rule as Fluent Calculus in incomplete environment is applied. Robot planning experiment is modeled and simulated by using the tool CPNTools and the result shows the state knowledge of the door and the action sequence to reach the goal can be generated automatically in the CPNI net system.