(5VS5) Soccer Robot System Modeling And Analysis Based On Petri Nets

The theories of the Petri nets are the system model using a Petri nets—systemic mathematics denotation, and then analyses this Petri nets, can announce the important information in the structure and the dynamic state behavior of the stimulant system.The Colored Petri Nets (CPN) is one of the most famous advanced Petri nets, CPN can combine the data structure with hierarchical decomposition well without influence the original Petri nets. CPN model can describe systemic modeling, and explain the system which needs be constructed in detail, and also present the system which needs be explained. A remarkable advantage of it is that it can be tested through setting up a model before construct a new system.The soccer robot system is the high technique oppositional activity in recent years, it is the outcome that the athletics and high technology combine. MiroSot is the soccer robot system of the sense of vision, this thesis deal with the research and design of the model based on the soccer robot platform.In this thesis, we focus on modeling a soccer robot system using Petri nets and seek to develop a methodology to investigate the soccer robot system. We use ordinary net to model the system, and find the existing problems by the definition of deadlock in the system, and present every state in the system. Furthermore, in this paper, based on the Petri Nets'foundation, we apply Colored Petri Nets into modeling this system, from the angle of increase the color tokens apply, which makes us set up a simpler model structure, and analysis model to get various appearances according to the random in Colored Petri Nets. By analyzing the models, we could find out all states in the real system.