A robot architecture validating method with Agent Oriented Hierarchical Petri Net

摘要

The robot system, a multi-agent system, is also one comprehensive system which integrates the multiple functions, such as environment perception, information fusion, path-planning, autonomous driving, and etc. Therefore, the robot’s architecture must be scheduled to enable the robot Agents to show proper performance and intelligence. In this article, the Agent oriented conception is exploited to analyze and validate robot architecture with hierarchical Petri nets, which is Agent Oriented Hierarchical Petri Net (AOHPN). In the AOHPN, on maintaining the attributes of the Object Oriented (OO) framework, the Agent idea is introduced to reconstruct the Object Oriented Petri Net (OOPN), making the Multi-agent system more analogous to the real entities. The Agent, as an independent intelligent entity is introduced to the Petri net, and the formal definition of AOHPN is offered. At last, the validating model of robot architecture with AOHPN is achieved.