Development of Petri-net Communication Model for Cooperative Mobile Robots System

Petri net model of the communication level of a cooperative autonomous mobile robots system (CAMRS) is presented. The purpose of this model is to specify the integration of the individual efforts on path planning, motion control, and vision system that are necessary for the autonomous operation of the mobile robots. This is achieved by analytically modeling the various units of the system as Petri net transducers and, explicitly representing the tasks execution 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 communication level of the cooperative autonomous mobile robots system. Some simulations results of the task processing are presented in the paper.