[AI]PDDL-博物馆导游规划

大概说一下题目：
机器人要先去开灯，然后到游客处给游客讲解，标有“小心地滑”的地方和动物区域不能去

可用PDDL Editor在线运行
其PDDL如下：

domain file:

(define (domain museum-domain)
  (:requirements :strips)
  (:predicates (at ?x ?y) (adj ?x ?y) (lights ?x) (wet ?y) (ro ?x) (cu ?x) (helped ?x))


  (:action turnOn
    :parameters (?a)
    :precondition (and (ro ?a)
		       (ro ?a)
           (at ?a sq-1-1)
		       (not (lights on)))
    :effect (and (lights on)))

  (:action talk
    :parameters (?a ?loc ?to)
    :precondition (and (at ?a ?loc)
           (at ?to ?loc)
           (ro ?a)
           (cu ?to)
           (lights on))
    :effect (and (helped ?to)))

  (:action move
    :parameters (?a ?from ?to)
    :precondition (and (at ?a ?from)
		       (adj ?from ?to)
		       (not (wet ?to))
           (ro ?a))
    :effect (and (not (at ?a ?from)) (at ?a ?to)))
)

problem file:

(define (problem museum-problem)
  (:domain museum-domain)
  (:objects sq-0-0 sq-0-1 sq-0-2 sq-0-3 
            sq-1-0 sq-1-1 sq-1-2 sq-1-3
            robot customer1 customer2 customer3 on)

  (:init (adj sq-0-0 sq-1-0) (adj sq-1-0 sq-0-0)
         (adj sq-0-0 sq-0-1) (adj sq-0-1 sq-0-0)
         (adj sq-0-1 sq-0-2) (adj sq-0-2 sq-0-1)
         (adj sq-0-2 sq-0-3) (adj sq-0-3 sq-0-2)
 
         (adj sq-0-3 sq-1-3) (adj sq-1-3 sq-0-3)
         (adj sq-1-0 sq-1-1) (adj sq-1-1 sq-1-0)
         (adj sq-1-1 sq-1-2) (adj sq-1-2 sq-1-1)
         (adj sq-1-2 sq-1-3) (adj sq-1-3 sq-1-2)

         (wet sq-0-1)
         (not (lights on))
         (at robot sq-1-0)
         (ro robot)
         (cu customer1) (cu customer2) (cu customer3)
         (at customer1 sq-0-0) (at customer2 sq-0-2) (at customer3 sq-1-2)
  )
  (:goal (and (lights on) (helped customer1) (helped customer2) (helped customer3)))
)

PDDL在线运行
其结果为：

planning file:

  (:action move
    :parameters (robot sq-1-0 sq-1-1)
    :precondition
      (and
        (at robot sq-1-0)
        (adj sq-1-0 sq-1-1)
        (not
          (wet sq-1-1)
        )
        (ro robot)
      )
    :effect
      (and
        (not
          (at robot sq-1-0)
        )
        (at robot sq-1-1)
      )
  )