Title :
BUG algorithm analysis using Petri net
Author :
Yufka, Alpaslan ; Aybar, Aydin
Author_Institution :
Dept. of Electr. & Electron. Eng., Anadolu Univ., Eskişehir, Turkey
Abstract :
In this study, BUG 1 navigation algorithm which is a simple motion planner, is modelled by the Petri net (PN) for a mobile robot (MR). We prefer this PN model to obtain the discrete data for this algorithm. PN is used as a modelling formalism to define MR´s movements such that the step of BUG 1 is constructed by using PN. Thus, all states are obtained the coverability tree. After all coverable marking vectors, the process of PN for BUG 1 is shown step by step on a real MR using the simulation environment of MobileSim.
Keywords :
Petri nets; mobile robots; navigation; path planning; vectors; BUG 1 navigation algorithm; MobileSim; PN model; Petri net; marking vectors; mobile robot; motion planner; Acoustics; Analytical models; Navigation; Registers; Robot sensing systems; Vectors;
Conference_Titel :
Electrical and Electronics Engineering (ELECO), 2013 8th International Conference on
Conference_Location :
Bursa
Print_ISBN :
978-605-01-0504-9
DOI :
10.1109/ELECO.2013.6713894
