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The problem of constructing internal model of external environment for intelligent robot is considered. Basic types of relations are discussed to specify robot's situational behavior. A new approach to linguistic internal model specification based on the synthesis of Pospelov's logical-linguistic modeling and Zadeh's generalized constraints is suggested. A short presentation of generalized constraints types and techniques is given. The expression of space and time relations in the form of generalized constraints is proposed; some relevant examples are shown.