期刊名称：Journal of Software Engineering and Applications
印刷版ISSN：1945-3116
电子版ISSN：1945-3124
出版年度：2011
卷号：4
期号：2
页码：81-85
DOI：10.4236/jsea.2011.42009
出版社：Scientific Research Publishing
摘要：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.
关键词：Timed Petri Net; Robot Planning; Reasoning; Action; Goal
