A Robot Planning Structure Using Production Rules

Abstract

Robot plan generation is a field which engendered the development of AI languages and rulebased expert systems. Utilization of these latter concepts permits a flexible formalism for robot planning research. We present a robot plan-generation architecture and its application to a realworld mobile robot system. The system undergoes tests through its utilization in the HILARE robot project (Giralt, et al, 1984). Though the article concentrates on planning, execution monitaring and error recovery are discussed. The system inc lud es models of its synergistic environment as well as of its sensors and effectors (i.e. operators). Its rules embody both planning specific and domain specific knowledge. The system gains generality and adaptiveness through the use of planning variables which provide constraints to the plan generation system. It is implemented in an efficient compiled Production System language (PSI).