PN-WSNA-based implementation for autonomous mobile robot navigation systems

This paper presents the implementations of autonomous mobile robot navigations by using the Petri net (PN) based wireless sensor node architecture (PN-WSNA) approach. With the PN-WSNA, the robot navigation systems can be realized in terms of PN-WSNA models, instead of using native codes. The PN-WSNA-based navigation system is responsible for navigating the mobile robot to the goal position in terms of the control scenarios of goal reaching and obstacle avoidances. The sensor places are used to collect the obstacle distances in three directions. In order to evaluate the performance of the PN-WSNA-based navigation system, a robot simulation program is created by considering the robot´s kinematics to evaluate the robot´s location based on two wheels´ velocities. In addition, the obstacles´ distances in three front directions can be also generated from the given simulation environment. Finally, the experiment results were discussed, and they also verified the idea of using the PN-WSNA model-based implementation approach for mobile robot navigations.