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：3
页码：156-160
DOI：10.4236/jsea.2011.43017
出版社：Scientific Research Publishing
摘要：Aiming at the former formalized methods of robot planning should give the environment state, can not obtain the new knowledge of the environment. In order to improve the reason ability for obtaining new knowledge of the environment state, the actions in the process of planning such as external action and sensing action are formalized. A formalized reasoning method—CPNI (Colored Petri Net for Planning in incomplete environment) based on two kinds of actions is proposed, and the reasoning rule as Fluent Calculus in incomplete environment is applied. Robot planning experiment is modeled and simulated by using the tool CPNTools and the result shows the state knowledge of the door and the action sequence to reach the goal can be generated automatically in the CPNI net system.
关键词：Sensor; Robot Planning; Colored Petri Net; Action Sequence
