Behavior Modeling And Analysis For Explosive-handling Robots Using Petri Nets

With the increasing terrorism explosive emergence, people’s demanding on Explosive Ordnance Disposal(EOD) Robot becomes more and more intensive, and correspondingly the EOD Robot becomes more and more intricate. In order to further understand and research the EOD Robot, establishing a sophisticate systematic behavior model is extremely necessary. Establishing systematic behavior model is a crucial aspect in designing EOD Robot, and also a premise for systematic analysis and optimizing timely control. A complete systematic behavior model facilitates us to better understand and express the system so as to support the supervise and control over the operation of EOD Robot. Besides, adopting the model benefits the accuracy of the system, shortens the development circle, and decreases the cost.EOD Robot is highly complex in the control system, and the behaviors are characteristic of paralleling, synchronizing, and asynchronizing. These behaviors are not fixed on their operating time and order, and they are inter-constraint. Traditional model building cannot satisfy this behavior character of EOD Robot, because Petri net can perfectly express the intricate paralleling, synchronizing, and asychronizing, and describe these through pictures. Therefore, the Petri net is adopted for the precise building of model.The paralleling, synchronizing, and asychronizing of EOD Robot are driven by events, and they are discrete in space and time, so EOD Robot system belongs to discrete event dynamical system. Discrete event dynamical system is mainly constructed by Petri net, that is to make use of Petri net to establish DEDS and PN model. PN model is a simple clear graphic language, which can clearly express the intricate paralleling,synchronizing, and asynchronizing in the behavior for the understanding and analyzing.Based on the PN model, I can directly observe the control system, and make further analysis. Meanwhile, PN model is structurized and hierarchical, which is beneficial for the development and application of the model.Based on the Petri net, I adopted the oppressive PN model to build model for EOD Robot. Firstly, I analyzed the interrelation between the EOD Robot’s behaviors, and constructed the PN model of EOD Robot, including PN model of mobile robot and PN model of mechanical arm. In order to prove the accuracy of PN model, that is to test whether the PN model can correctly express the logic relation between the robot’s behaviors, and fulfill the concrete function, I considered the PN model as the primary method of proving. I changed the Petri net into C++ program, programmed along with Robotics tool cabinet, and attested on the AS-4WD platform, and it realized the mutual logic between the robot’s behaviors and increased the reliability of EOD Robot, proved the accuracy of the model, and widened the application of Petri net.