Deadlock Detection, Intelligent Robot System Based On Petri Nets

Intelegent robot is an intelegent system,which highly opened to the environment. It needs to react and make decision in real-time according to every complex conditions of the road. It realizes the functions of road track, fork,avoid-obstacle, and so on. So the archtechtrue of the robot must be organized,and the robot's subsystem would appear highly intelegent to solve the local problems automaticly,collaborate with each other, and finish the global task by dispatch-mechanism.The whole system consists of several processes. In order to do the work smoothly without deadlock and congestion with the complex system,a powerful tool is needed to describe and analyse it.This paper firstly analyse the archtechture of the on-ground micro intelegent robot system,and forms out it's Petri model;and then get the suitable deadlock-detect algorithms to detect the deadlock in the Petri model:first,to judge if there exits a deadlock marking,dead transition;second,to propose and realize a algorithm to detect whether all the reachable marking can return to the initial marking.The experiment of the detection shows the Petri don't have a deadlock marking and dead transition,and all the reachable marking can return to the initial marking,that shows the Petri is active,which can further be sure that there is no deadlock in the intelegent robot system.