运输机器人行为建模的Petri网方法

针对建立运输机器人的精准行为模型所遇到的新困难，提出采用含禁止弧Petri网（PN）建立其行为模型。运输机器人行为有耦合、制约、异步等特点，采用含禁止弧的行为交互Petri网元模型以及token流动控制机制建模其行为。通过LabVIEW2012及Robotics模块,将Petri网模型转化为LabVIEW程序，在运输机器人平台进行行为验证。结果实现了运输机器人的行为与交互逻辑，具有行为辨识、决策与执行能力。验证了含禁止弧Petri网为运输机器人的行为建模提供了一种适用方法，建立的Petri网模型为运输机器人的相关行为设计提供模型参考。

Behavior modeling of transport robot using Petri nets

New difficulties are met when establishing accurate behavioral models of a transport robot. To solve this problem, behavioral models of a transport robot were built using Petri Nets (PN) with inhibitor arcs. There exist coupling, constraint, and asynchronization relationships among the behaviors of a transport robot. A Petri net metamodel with inhibitor arcs of interactive behaviors as well as a token flow control mechanism were utilized for modeling the behaviors of a transport robot. The Petri net models were converted into LabVIEW programs using LabVIEW2012 and the Robotics module. The robot behaviors were verified using a transport robot platform. The experimental results demonstrate that the transport robot's behaviors and interaction logic are achieved, and that the robot has behavioral identification, decision-making and implementation capabilities, and it is a suitable method model the behaviors of a transport robot using Petri nets with inhibitor arcs. The reference models of Petri nets are given for designing related behaviors of transport robots.