利用混杂Petri网对基于事件的机器人遥操作系统建模研究

MODELING OF ROBOT TELEOPERATION BASED ON EVENT USING HYBRID PETRI NETS

摘要: 针对采用基于事件思想的移动机器人遥操作系统，首次提出以混杂Petri网作为描述工具进行建模，模型的离散部分利用传统的Petri网，对应于系统的操作者；连续部分利用重新定义的便于描述微分代数方程的连续Petri网，对应于位于远端的移动机器人．

Abstract: This paper firstly used the hybrid Petri nets as tools to model the robot teleoperation based on event.The discrete parts respond to the operator in teleoperation,which use the traditional Petri nets.By redefining the continuous Petri nets, we use it to describe the differential equations of mobile robot.