Petri net modeling for mobile robot motion in sharp turning cases

Abstract

Automatic robot travel usually moves from one place to another and in its journey, it has many challenges such as dealing with many obstacles and intersections. Many studies have focused on how to avoid these obstacles, sometimes this challenge can be solved if the space to turn has a large space because the robot’s maneuvering when moving becomes more flexible. But what if the available space has motion space that has a steep and narrow angle of motion such as having turning angles of 45°, 135°, 225°, and 315°. This research will examine sharp turning movements to turn angles of 45°, 90°, 135°, 180°, 225°, 270° and 315° in 7 different rooms according to the angle of the maze using the Petri net model. The final results obtained for sharp turning movement using the Petri net model can be obtained where each model will receive information through the form of a place, transition and token model, following the marking values in room 1 M0 M1 M2, room 2 M0 M1 M3, room 3 M0 M1 M4, room 4 M0 M1 M5, room 5 M0 M1 M6, and room 7 M0 M1 M8 success.