Execution control of robotic tasks: a Petri net-based approach

被引：14

作者：

Caccia, M ^{[1
]}

Coletta, P ^{[1
]}

Bruzzone, G ^{[1
]}

Veruggio, G ^{[1
]}

机构：

[1] CNR, ISSIA, Sez Genova, I-16149 Genoa, Italy

来源：

CONTROL ENGINEERING PRACTICE | 2005年 / 13卷 / 08期

关键词：

Petri nets; hybrid systems; control architectures; underwater robotics;

D O I：

10.1016/j.conengprac.2004.10.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of controlling the execution of motion estimation and control tasks in intelligent robotic systems is addressed in this paper. A methodology for automatically transforming conventional task-variable graphs representing the execution level of intelligent control architectures in Petri nets is presented. The proposed Petri net representation allows the design and implementation of an execution control module which, through suitable graph-search algorithms, generates sequences of task activation/deactivation operations which execute the desired commands maintaining the system in admissible configurations. The application of the proposed methodology to the execution control of the navigation, guidance and control system of the Romeo ROV is described and discussed. (c) 2004 Elsevier Ltd. All rights reserved.

引用

页码：959 / 971

页数：13

共 20 条

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