Motion Modeling of Crawling Robot Based on Layer Controlled Hybrid Petri Net

Robot crawling on the aircraft surface to detect defects is a complex hybrid system as a combination of discrete event and continuous events. In this paper, the layer controlled hybrid Petri net is proposed in order to describe static characteristics and dynamic behavior of the robot. First of all, the definition of constituent elements of the Petri net was given based on the crawling robot movement mechanism and then established single axis layer controlled hybrid Petri net and dual axis layer controlled hybrid Petri net of crawling robot, the model of which could receive the upper trajectory commands and outputs crawling action sequences. Experiments show that: the implementation of creeping control on simulate cabin of the aircraft based on the model was safe and reliable, so the correctness and practicability of the model was verified.