BUG Algorithm Analysis using Petri net

Yufka A., AYBAR A.

8th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Türkiye, 28 - 30 Kasım 2013, ss.507-511 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/eleco.2013.6713894
  • Basıldığı Şehir: Bursa
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.507-511
  • Anadolu Üniversitesi Adresli: Evet

Özet

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.