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A Petri-Net Coordination Model for an Intelligent Mobile Robot
Fei Yue Wang; Konstantinos J. Kyriakopoulos; Athanasios Tsolkas; George N. Saridis
Source PublicationIEEE Transactions on Systems, Man, and Cybernetics
1991
Volume21Issue:4Pages:777-789
Abstract-  ;
Petri net model of the coordination level of an
intelligent mobile robot system (IMRS) is presented. The purpose
of this model is to specify the integration of the individual efforts
on path planning, supervisory motion control, and vision system
that are necessary for the autonomous operation of the mobile
robot in a structured dynamic environment. This is achieved by
analytically modeling the various units of the system as Petri
net transducers and, explicitly representing the task precedence
and information dependence among them. The model can also be
used to simulate the task processing and evaluate the efficiency of
operations and the responsibility of decisions in the coordination
level of the intelligent mobile robot system. Some simulations
results of the task processing and learning are presented in the
paper.
KeywordPetri-net Coordination Intelligent Mobile Robot
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14194
Collection09年以前成果
AffiliationNASA Center for Intelligent Robotic Systems for Space Exploration Rensselaer Polytechnic Institute Troy, NY 12180-3590.
Recommended Citation
GB/T 7714
Fei Yue Wang,Konstantinos J. Kyriakopoulos,Athanasios Tsolkas,et al. A Petri-Net Coordination Model for an Intelligent Mobile Robot[J]. IEEE Transactions on Systems, Man, and Cybernetics,1991,21(4):777-789.
APA Fei Yue Wang,Konstantinos J. Kyriakopoulos,Athanasios Tsolkas,&George N. Saridis.(1991).A Petri-Net Coordination Model for an Intelligent Mobile Robot.IEEE Transactions on Systems, Man, and Cybernetics,21(4),777-789.
MLA Fei Yue Wang,et al."A Petri-Net Coordination Model for an Intelligent Mobile Robot".IEEE Transactions on Systems, Man, and Cybernetics 21.4(1991):777-789.
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