Synthesis of mobile robot control system on embedded chips via Petri nets

As robot mission requirements become more complicated, it costs more and more time and energy to design and to debug a control system for robots. In this work, a method is proposed based on Petri nets (PNs) to shorten a program development cycle and to ease the reuse of programs. It consists of mode...

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Bibliographic Details
Published in:Journal of the Chinese Institute of Engineers 2018-08, Vol.41 (6), p.442-451
Main Authors: Wang, Shuo, Luo, Jiliang
Format: Article
Language:English
Subjects:
control system
Petri net
robot
TBB
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Summary:As robot mission requirements become more complicated, it costs more and more time and energy to design and to debug a control system for robots. In this work, a method is proposed based on Petri nets (PNs) to shorten a program development cycle and to ease the reuse of programs. It consists of modeling a basic task by a task building block (TBB) so that functional codes can be masked into modules, constructing an executive PN (EPN) according to the logical relationship among a set of given tasks, and designing an executing program that can analyze and run an EPN. As a result, it costs less to design a credible control program for robots by this method. A robot control system of a mobile robot is designed to illustrate this method.
ISSN:0253-3839
2158-7299
DOI:10.1080/02533839.2018.1498022