Design of Petri net-based control system for dual-wheel-driving mobile robot

The driving speed of mobile robot is always inaccurate driven by low performance DC motor and low resolution encoder in PWM way. For this reason, the event-driven dual-driving-wheel synchronization control model is established based on Petri net. The forward and inverse formulas of the azimuth for dual-wheel-driving mobile robot in discrete form are deduced. The specific realization algorithm is given at last. Experimental results show this model has obvious advantage in speed and position control using the proposed synchronization control model, especially when the robot moves along straight line and the speed difference of two driving wheels is small.