Study on the UGV´s Active Collision Avoidance Technology Based on Petri Net

A new method based on Petri Net was introduced to study avoidance of the collision among unmanned ground vehicles (UGVs). In this method, the contact of space resources stands for the collision among the UGVs. So the occurrence condition of the transition can be used to judge the situation that will not happen, so that the collision can´t happen either. Also, the concept of collision avoidance in ITS (Intelligent Transportation System) was cited. Each location where the collision perhaps happens was regarded as one Place in Petri Net and the dynamic Petri model of several moving UGVs was established. At last, it was summarized that an attention to several matters is needed to solve the problem of the collision with Petri Net.