Petri net based AUV modeling and analyzing

By analyzing the features such as asynchronism, concurrency and event-driven control of the autonomous underwater vehicle (AUV) system, the concepts of basic procedure, concurrent procedure and parallel procedure are proposed. In addition, the authors define operators such as sequence, loop, selection, condition, conditional loop, parallel, synchronous concurrency and concurrent communication, whose Petri net representations are also given. Accordingly, the authors propose a novel modeling method of the AUV based on Petri net. On the basis of the above work, the broadcasting module, perceptional module, planing module and control module are constructed using a bottom-up approach. Finally, a synchronous model is developed and an analysis of the model of the AUV system is given