自主式追踪机器人终端行为的Petri网建模*

针对含有资源流动和信息交互的终端行为建模问题，提出了一种混合Petri网行为建模方法。首先，引入活性变迁和惰性变迁两种变迁模式，描述终端行为的耦合、制约、异步关系。其次，建立混合Petri网模型，揭示化学羽流追踪终端各行为之间的交互关系，以Robotics模块为验证与分析工具，仿真机器人终端运动过程，同时获得6个关节角度变化的平稳曲线。最后，在六自由度串联机器人平台加以验证。实验结果表明，该混合Petri网模型客观真实地表达对象内部逻辑关系与交互作用机制，对自主式羽流追踪机器人终端行为建模是有效可行的。

Terminal behavior modeling for autonomous tracking robots using Petri nets

Focused on the issue that the terminal behavior modeling contains resource flowing and information interaction, this paper proposed a behavior modeling method of hybrid Petri net. Firstly, the active transitions and inertia transitions introduced in this paper described the coupling, restriction, and asynchronous relationships among behaviors. Secondly, the hybrid Petri net model showed the interactions among the various terminal behaviors during a chemical plume tracking process. It used a robotics module as the verification and analysis tools for simulating the robot terminal movements, and obtained the smooth curves of six joints angle changes. Finally, the method was verified in a 6-DOF industrial robot platform. The results show that the hybrid Petri nets model can truly express the internal logical relationships and the interaction mechanisms of objects. Terminal behavior models are effective and feasible for autonomous robots to track plumes.