Hierarchical Fuzzy Petri Nets Approach of Simultaneous Task Assignment for Autonomous Mobile Robots

摘要

Task assignment processes and its control implying reasoning about objects and resources and their changing states are dominated by discrete or stochastic-event dynamics or both. Estimating the components position of the mobile robot provided by sensor generates unknown, hidden variables which will be model by the means of probabilistic inference taking into account incomplete and uncertain information. The modeling technique proposed in this paper, managing the uncertainty, vagueness and imprecision, bridges the aspects of Petri net theory, as a tool for the representation dynamic discrete event systems, with efficiency of fuzzy rule based reasoning by means of Hierarchical Fuzzy Petri Nets. A case study regarding a reasoning mechanism and an explanation of the reasoning process through task assignment in mobile robot system is explored.