Research of synchronous and asynchronous model for autonomous mobile robot
Liping Wang, Feiyue Qiu, Xiao-Min Hu · 2005
Coordination in navigation is of vital importance for intelligent robot system to complete its jobs effectively. In this paper, based on the system structure of an autonomous mobile robot, we present both synchronous and asynchronous pipeline models by using Petri net. At the same time, we analyze the characteristics and performances of both models and illustrate the amalgamation module of autonomous mobile robot detailed as an example. In the part of synchronous model, we emphasize the transition meaning of pipeline and the algorithm in Petri net for avoiding system jam and then list the merits of this model. While we interpret asynchronous pipeline model as a data driving work method by analyzing the tome-delay transition of pipeline. It shows that synchronous pipeline model is quite suitable and effective if the function module is approximately the same and steady, which has the advantages of accuracy and safety in action. However, asynchronous system can operate more quickly.