A Petri net model of the coordination level of an intelligent mobile robot system (IMRS) is presented. The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision system that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and, explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the intelligent mobile robot system. Some simulations results of the task processing and learning are presented in the paper.
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