Application of growing nested Petri nets for modeling robotic systems operating under risk

Innovations and Prospects of Development of Mining Machinery and Electrical Engineering

矿业工程;电工学

Sorokin, E.V.^1 ; Senkov, A.V.^1

National Research University, Moscow Power Engineering Institute in Smolensk, 1, Energeticheskiy proezd, Smolensk

214013, Russia^1

关键词: Coal seams;    Model extraction;    Model mechanisms;    Regular operations;    Robotic systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/87/8/082046/pdf
DOI  :  10.1088/1755-1315/87/8/082046

来源: IOP

【 摘 要 】

The paper studies the peculiarities of modeling robotic systems engaged in mining. Existing modeling mechanisms are considered, which are based on nested Petri nets, and a new formalism of growing Petri nets is presented that allows modeling robotic systems operating under risk. Modeling is provided both for the regular operation mode and for non-standard modes in which individual elements of the system can perform uncharacteristic functions. The example shows growing Petri nets that are used for modeling extraction of flat coal seams by a robotic system consisting of several different-type autonomous robots.