Research of modeling methods for AMR pipeline navigating system

The evolution of an autonomous mobile robot´s (AMR) pipeline navigating system is incapable of being described by ordinary physical and natural science theorems, but subordinated to certain complicated artificial rules. And the dynamic transition process, which is a typical discrete event system (DES), is therefore determined by the interaction of nonlinear and discrete events. In this article, the DES model is established, and further qualitative and quantitative analysis from logic and algebra hierarchy has been researched. In logic hierarchy, the Petri net is applied for qualitative analysis. And in algebra hierarchy, the Max-Plus algebra is introduced for system modeling, which transforms the nonlinear system to a Max-Plus algebra linear system. The veracity of the Max-Plus algebra linear model is validated in proving ground environments.