受控Petri Net在遥控机器人作业规划中的应用研究

Controlled Petri Net Model Based Research in Telerobotic Task Planning

在交互工作方式下的遥控机器人在太空开发和深海勘探等领域具有重要的实用价值，而如何增强其自主作业能力是一个重要的问题．本文采用受控ＰｅｔｒｉＮｅｔ理论建立了遥控机器人的作业规划模型。

It's of great values to study the telerobotic systems which work in the space or in the ocean, and it's an important problem to improve their auto control operation capability. The controlled Petri Net theory is adopted to study this problem in the paper, and a scheme is presented to solve the second design problem caused by the time varying & uncertain environment.