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针对之前构建的水下机器人体系结构仅停留在系统结构框图层面的不足,本文对其进行建模并对它的正确性进行理论分析.首先简要地介绍之前的研究成果,即趋于通用化的水下机器人体系结构.然后根据该体系结构的模块化封装和层次化组织的特点,采用面向对象的Petri网对其进行建模.在此基础上,针对系统能否顺利完成使命的问题,给出了一个充分性判据,从而在理论上比较严密地论证了该体系结构的时序和逻辑的正确性.最后通过半物理仿真实验对其进行仿真验证.
Aiming at the deficiency that the underwater robot system constructed before is only in the aspect of the system structure block diagram, this article models it and makes a theoretical analysis on its correctness.First, it briefly introduces the previous research results, that is to say, Under the architecture of underwater robot, the object-oriented Petri nets are used to model the architecture of the underwater robot based on its modular encapsulation and hierarchical structure.On the basis of this, aiming at the problem that the system can accomplish the mission successfully, A sufficient criterion is obtained, and the correctness of the timing and logic of the architecture is demonstrated theoretically.Through the semi-physical simulation experiment, it is verified by simulation.