Title :
LLP supervisory control with timed Petri net models in mobile robots
Author :
Kobayashi, Keigo ; Inoue, Kengo ; Ushio, Toshimistu
Author_Institution :
Dept. of Syst. & Human Sci., Osaka Univ., Japan
Abstract :
This paper deals with the high level control of robot systems. We abstract the robot system as timed Petri net and give a high level controller which consists of a limited lookahead policy (LLP) supervisor. A simple application of the control system to a mobile robot system is given
Keywords :
Petri nets; discrete event systems; mobile robots; path planning; search problems; colored Petri nets; limited lookahead policy; mobile robot; search problem; supervisory control; timed Petri nets; Automatic control; Control systems; Discrete event systems; Formal languages; Humans; Level control; Mobile robots; Petri nets; Robotics and automation; Supervisory control;
Conference_Titel :
Systems, Man, and Cybernetics, 2001 IEEE International Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-7087-2
DOI :
10.1109/ICSMC.2001.972016
