Design of household mobile robot system based on Petri net

The whole model of household mobile robot is designed according to the actual requirements. It includes three subsystems: remote human-computer interactive subsystem, PC server subsystem and semi-autonomous decision-making mobile robot subsystem. The motion model of semi-autonomous decision-making mobile robot is constructed. Low performance DC motor and low resolution code disk can cause inaccurate control of position and velocity in PWM way. For this reason, the event-driven dual-driving-wheel synchronization control model is established based on Petri net. Experimental results show that the velocity and position control accuracy of mobile robot is improved.