A Petri Net Based Software Architecture for UAV Simulation
نویسندگان
چکیده
This paper presents a Petri net-based hierarchical architecture for multiple Unmanned Aerial Vehicle (UAV) simulations in order to facilitate rapid prototyping via visual modeling and analysis. Using high-level Colored Petri nets, we specify UAV control structure by a hierarchy of mission control net and task nets: the mission control net, built upon task nets, models the decision making process of the UAV simulation; tasks nets are built from primitive UAV behaviors and environmental behaviors. To realize effects of UAV behaviors on the simulation environment, procedures may be associated with transitions in Petri nets. To demonstrate the approach, we describe two experimental UAV mission scenarios: sweeping search and multi-point attack.
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