Toward Humanoid Robot Self Awareness Algorithms using Petri net Modeling and Simulation Analyses

Abstract

Petri nets are proposed as the modeling tool of choice for designing a soccer-playing robot algorithm due to its versatile graphical and mathematical properties. By including timed intervals and fuzzy logic in a petri net model of such algorithm, it is possible to simulate, assess, and communicate the process and reasoning of the robot’s algorithm and apply it to real world programming. We have proposed the Optimal Path for Ball Movement (OPBaM) Algorithm and the Soccer Playing Allies Referencing Tract and Coordinate Underlay System (SPARTaCUS) Algorithm which have proven to outperform non-methodical approaches by 40% and 11%, respectively.