基于Petri网的BUG算法分析

2013 8th International Conference on Electrical and Electronics Engineering (ELECO) Pub Date : 2013-11-01 DOI:10.1109/ELECO.2013.6713894

Alpaslan Yufka, A. Aybar

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引用次数: 0

摘要

在本研究中，BUG 1导航算法是一种简单的运动规划器，采用Petri网(PN)对移动机器人(MR)进行建模。对于该算法，我们更倾向于采用这种PN模型来获得离散数据。使用PN作为建模形式来定义MR的运动，从而使用PN构造BUG 1的步骤。这样，所有的状态都得到了可覆盖性树。在获得所有可覆盖的标记向量后，利用MobileSim仿真环境在真实MR上逐步展示了BUG 1的PN过程。

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BUG algorithm analysis using Petri net

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.

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2013 8th International Conference on Electrical and Electronics Engineering (ELECO)

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