Modelo de navegação para robôs móveis baseado em redes de Petri coloridas

Abstract

Systems of autonomous navigation must be able to define a sequence of actions to be taken bymobile robots endowed with a set of limited sensors, while exposed to an unknown environment and having to serve simultaneously a set of objectives previously specified. The scientific interest in the study of systems of navigation in unknown environment which are subject of serving to several objectives is motivated basically by its evident potential in industrial applications and by the fact of demanding the implementation of complex solutions strategies. This research presents the modeling of a navigation system for mobile robots through coloured Petri nets. The model presented here can simulate several situations, such as: the representation of the world around the robot, interaction with the environment, trajectory planning, robot location, battery analysis, as well as how to serve as a basis for implementation in a real mobile robot and optimization of the system.