The perception system of external world for robot

World Model is the robots' view of the world and contains information for the robot to make decisions. World Modeling is the process that robots map the sensor data into the World Model. The complexity of the sensors increased, so does the data process components. In this paper, an architecture for world modeling is proposed. This architecture enhances the extensibility of the data process components by decoupling them with a middleware, and it improves the efficiency by computing in parallel. The combination of this architecture and the PDDL will also be presented. © (2013) Trans Tech Publications, Switzerland.