Topological Modeling with Fuzzy Petri Nets for Autonomous Mobile Robots

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.

• Type: Conference
• Year: 1998
• Where: IEAAIE
• Authors: Javier de Lope Asiaín, Darío Maravall Gómez-Allende, José G. Zato
• Keywords: Artificial Intelligence, Fuzzy Petri Net, IEAAIE 1998, Reference Places, Route Planning