Topological modeling with Fuzzy Petri Nets for autonomous mobile robots

  • Javier de Lope
  • Dario Maravall
  • José G. Zato
2 Modification Tasks Perception Robotics
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1416)


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.


Mobile Robot Fuzzy Reasoning Route Planning Autonomous Mobile Robot Navigation Strategy 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Javier de Lope
    • 1
  • Dario Maravall
    • 2
  • José G. Zato
    • 1
  1. 1.Dept. Applied Intelligent SystemsTechnical University of MadridSpain
  2. 2.Dept. Artificial IntelligenceTechnical University of MadridSpain

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