Research on Modeling and Simulation of AUV System Based on CTOPN
Xin Liu, Yin Guisheng, Ziying Zhang · 2008
This paper presents a new modeling method, called CTOPN (colored timed object-oriented Petri net), to model AUV (autonomous underwater vehicle) system. Firstly, the definition of a CTOPN is introduced, then the procedure of developing a CTOPN model for AUV system and a deadlock detection algorithm is given, at last the simulation validation is done. The CTOPN model of AUV system is proved deadlock-free and the simulation result is accordance with the actual system.