МЕТОД И АЛГОРИТМ ПЛАНИРОВАНИЯ ОПЕРАЦИЙ НА ОСНОВЕ МОДЕЛИ НЕЧЕТКОГО КОНЕЧНОГО АВТОМАТА

Abstract

In this paper the planning and scheduling problem as an important optimization problem inmany transportation and robotic applications is discussed. To solve planning problems, the mainapproaches are based on optimization methods, sampling-based methods, and usually such kindsof problems are NP-hard and high dimensional. In this work, the method for planning and schedulingbased on the fuzzy finite state machine model is developed. Fuzzy graph presentation of thescheduling problem and operation planning is given. The paper presents two approaches to theformulation of the planning problem with limited resources and temporal variables: state-oriented(with transitions between states), temporal ordering-oriented (on a time scale). Temporal modelingfor planning problems implies a qualitative approach to managing the distribution of operationsor topological ordering, as well as a quantitative approach to handling imprecise durationsrelationships between operations in multiple parameters. The concepts of fuzzy intervals and fuzzyrelations are introduced for planning operations on a graph. A planning algorithm based on thetheory of automata and temporal modeling under uncertainty has been developed. Using this formalism,a path planning problem is solved by successively altering a state using various operationsuntil a solution is found. The idea of temporal-ordered partial schedule associated with theplanning state of the system is discussed. A model of a finite automaton for a planning system underconditions of uncertainty is proposed. A method and algorithm for scheduling operationsbased on a non-deterministic finite automaton and an enumeration scheme have been developed.The non-deterministic computation for a scheduling problem is a decision tree whose root correspondsto the beginning of the scheduling process, and each branch point in the tree correspondsto a computation point at which the machine has multiple choices. And the finite state machinemodel (automata) for the planning system under uncertainty is suggested.