Fuzzy Petri Net-Based Approach in Modelling Simultaneous Task Assignment for Robotic System

Time depended application, mobile robots have especially challenging knowledge requirements in order to negotiate within and interact with uncertain and dynamic environments. The internal representation of timing constraints on interaction has many implications for the reliability, effectiveness, efficiency, validity, schedulability and robustness of the mobile robot. The task assignment processes and its control implying reasoning about objects and resources and their changing states are dominated by either discrete or stochastic-event dynamics or both. 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 using hierarchical fuzzy Petri nets is presented.