Abstract. 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 nishing the propagation the transitions and the places store the information needed to make decisions about the navigation strategies of the robot route.
Lope et al. REF use site references and navigation strategies between sites to construct the model of the environment with a Fuzzy Petri Net.
Topological Modeling with Fuzzy Petri Nets for Autonomous Mobile Robots
IEA/AIE
Computer Science