Research on Modeling and Reachability Problem of Autonomous Underwater Vehicle Architecture Based on Object-oriented Petri Net
LIN Changlong1, LIU Kaizhou2
1. College of Computer Science and Technology, Huaqiao University, Xiamen 361021, China;
2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
林昌龙, 刘开周. 基于面向对象Petri网的水下机器人体系结构建模与可达性问题研究[J]. 机器人, 2013, 35(3): 332-338.DOI: 10.3724/SP.J.1218.2013.00332.
LIN Changlong, LIU Kaizhou. Research on Modeling and Reachability Problem of Autonomous Underwater Vehicle Architecture Based on Object-oriented Petri Net. ROBOT, 2013, 35(3): 332-338. DOI: 10.3724/SP.J.1218.2013.00332.
The architecture we previously constructed for autonomous underwater vehicles (AUV) only remains in the system block level. To cope with this insufficiency, the architecture is modeled and its correctness is theoretically analyzed in this paper. Firstly, our previous work, that is, a generalized architecture for AUVs, is presented. Then, according to its characteristics of modular packaging and hierarchical organization, the object-oriented Petri net is adopted to model this architecture. Based upon this, the mission reachability problem is focused and a sufficient criteria is proposed. Thus, the correctness of the timing and logic of this architecture is thoroughly demonstrated. Finally, semi-physical experiments are carried out to validate the architecture.
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