BUG Algorithm Analysis using Petri net

Yufka A., AYBAR A.

8th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey, 28 - 30 November 2013, pp.507-511 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/eleco.2013.6713894
  • City: Bursa
  • Country: Turkey
  • Page Numbers: pp.507-511
  • Anadolu University Affiliated: Yes


In this study, BUG 1 navigation algorithm which is a simple motion planner, is modelled by the Petri net (PN) for a mobile robot (MR). We prefer this PN model to obtain the discrete data for this algorithm. PN is used as a modelling formalism to define MR's movements such that the step of BUG 1 is constructed by using PN. Thus, all states are obtained the coverability tree. After all coverable marking vectors, the process of PN for BUG 1 is shown step by step on a real MR using the simulation environment of MobileSim.