RPBTC: An Implementation Method for Robot Planning

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DOI: 10.4236/jsea.2011.42009   PDF   HTML     3,726 Downloads   7,530 Views  

Abstract

Aiming at the former formalized methods such as Strips, Situation Calculus and Fluent Calculus can not represent the action time and get the action sequence automatically, a novel method based on timed color Petri net—RPBTC was defined. The action time, the precondition and the post-condition of action are formalized in RPBTC based on the Fluent Calculus reasoning rules. An algorism for constructing the RPBTC net system based on bidirectional search strategy is proposed, and through executing the RPBTC net system, the action sequence for reaching the goal can be generated dynamically and the time for the robot reaching the goal also can be obtained. The experiment has proved the method RPBTC as a feasible method for robot planning.

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S. Zhong, Q. Chen, Y. Zhou and J. Yuan, "RPBTC: An Implementation Method for Robot Planning," Journal of Software Engineering and Applications, Vol. 4 No. 2, 2011, pp. 81-85. doi: 10.4236/jsea.2011.42009.

Conflicts of Interest

The authors declare no conflicts of interest.

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