A Petri-net coordination model for an intelligent mobile robot

Author

Wang, Fei Yue ; Kyriakopoulos, Konstantinos J. ; Tsolkas, Athanasios ; Saridis, George N.

Author_Institution

NASA Center for Intelligent Robotic Syst. for Space Exploration, Rensselaer Polytech. Inst., Troy, NY, USA

Volume

21

Issue

4

fYear

1991

Firstpage

777

Lastpage

789

Abstract

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 a 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 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 simulation results of the task processing and learning are presented

Keywords

Petri nets; artificial intelligence; learning systems; mobile robots; planning (artificial intelligence); Petri-net coordination model; artificial intelligence; autonomous operation; intelligent mobile robot; learning systems; path planning; supervisory motion control; task processing; vision system; Intelligent robots; Intelligent systems; Mobile robots; Motion control; Navigation; Orbital robotics; Path planning; Robot kinematics; Robotic assembly; Space exploration;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9472

Type

jour

DOI

10.1109/21.108296

Filename

108296