제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제9권11호
  • /
  • Pages.906-916
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  • 2003
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Petri-Net을 이용한 효과적인 다중로봇 제어알고리즘의 구현

Embodiment of Effective Multi-Robot Control Algorithm Using Petri-Net

  • 선승원 (Freenex(주) 기술연구소) ;
  • 국태용 (성균관대학교 정보통신공학부)
  • 발행 : 2003.11.01
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초록

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.

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참고문헌

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