基于Petri网的Internet多机器人协调控制器设计

基于Petri网库所不变量理论提出Internet多机器人协调控制模型，并利用此模型解决系统操作中的碰撞检测问题．通过对两个机器人协作空间进行网格划分，引入隐式、显式基本操作概念简化Petri网模型，从而增强了系统的灵活性；对操作中的异常情况进行分类，建立了故障恢复Petri网；利用库所不变量理论设计机器人协调控制器，规划多机器人协调动作．仿真实验表明，所提控制模型可以有效满足系统的安全性和实时性要求．

Controller design based on Petri net for internet multi-robot coordination

Based on place invariants of the Petri net, a control model of Internet-based multi-robot coordination is proposed to satisfy the collision avoidance during the operation. The space of the multi-robot collaboration was plotted, and the conception of implicit elementary operations and explicit elementary operations were introduced, which can simplify the Petri net model and increase the flexibility of the system. Classification of exceptions during the operation was also performed and the Petri net model of the fault recovery was developed. A controller was designed based on the place invariants to realize action planning for multi-robot coordination. Simulation results show the demands on the safety and the realtime operation of the system can be guaranteed.