14、机器人定位：原理、特性与逻辑框架优势

机器人定位：原理、特性与逻辑框架优势

1. 领域公理化

领域的基本动作理论包含多个重要公式，具体如下表所示：
| 序号 | 公式内容 |
| ---- | ---- |
| 1 | {Solid(0, 0, 10), Solid(5, 0, 1), Solid(5, 2, 1), Solid(5, 4, 3), Solid(5, 8, 2)} |
| 2 | Poss(a) ≡ true |
| 3 | h(do(a, s)) = u ≡ ¬∃z, w(a = move(z, w)) ∧ u = h(s) ∨ ∃z, w(a = move(z, w) ∧ u = max(δ(s), h(s) - z · cos(w))) |
| 4 | v(do(a, s)) = u ≡ ¬∃z, w(a = move(z, w)) ∧ u = v(s) ∨ ∃z, w(a = move(z, w) ∧ u = v(s) + z · sin(w)) |
| 5 | θ(do(a, s)) = u ≡ ¬∃z(a = rotate(z) ∧ u = θ(s)) ∨ ∃z(a = rotate(z) ∧ u = (((θ(s) + z) mod 360) - 180)) |
| 6 | {l(move(z, w), s) = 1, l(rotate(z), s) = 1} |
| 7 | l(sonar(z), s) = u ≡ Blocked(s) ∧ u = N(δ / cos(θ) - z; 0, 1)[s] ∨ ¬Blocked(s) ∧ u = N((δ + λ) / cos(θ) - z; 0, 1)[s] |

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