Open AccessTopological modeling with Fuzzy Petri Nets for autonomous mobile robots
Author(s) -
Javier de Lope,
Darío Maravall,
José G. Zato
Publication year - 1998
Publication title -
lecture notes in computer science
Language(s) - English
Resource type - Book series
SCImago Journal Rank - 0.249
H-Index - 400
eISSN - 1611-3349
pISSN - 0302-9743
ISBN - 3-540-64574-8
DOI - 10.1007/3-540-64574-8_415
Subject(s) - petri net , computer science , mobile robot , process architecture , fuzzy logic , robot , stochastic petri net , distributed computing , artificial intelligence , topology (electrical circuits) , engineering , electrical engineering
In this paper a novel method of reference places' detection to build topological models is described, as well as an algorithm for route planning based on Fuzzy Petri Nets. The proposed method for the detection of reference places does not employ sensory information but the information provided by the robot's control subsystem. The reference places and the navigation strategies between places are used for constructing the model's environment with a Fuzzy Petri Net. The route planning algorithm propagates over the net the certainty value of places and transitions. After finishing the propagation the transitions and the places store the information needed to make decisions about the navigation strategies of the robot route.
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