Formal Method Designing The Task-execution System Of An Intelligent Car

A mobile robot is applied in logistics,intelligent home,anti-terrorism and space exploration and other fields.A reliable and stable task management system is necessary.This work presents its synthesis method based on a Petri net model.1.An smart car is designed as the experi ment platform of this work,where an ARM chip(STM32F103ZET6)is utilized as its com puting engine,a three-axis magnetic sensor and auxiliary map data are used to automatically locate itself,several infrared tracking sensors are adopted to follow tracks,an ultrasonic sensor is to detect obstacles,and a L298N is to drive four motors whose speeds are controlled by PWM.2.A webcam is mounted on this car to realize a remote monitor.On an Android platform,a mobile client software is designed such that we can capture remote images and show them in our mobile phone via a wireless Local and World Wide Web.3.An total task is separated into a set of elements,and,in turn,they are modeled by Petri-net building blocks(PNBBs).Further,a set of rules is constructed to compose a set of PNBBs,and,consequently,a task execution Petrinet is obtained.This makes it flexible to design a task-e xecution system,and,furthermore,we can guarantee the liveness and safeness of the resultant system.4.According to a task execution Petr inet,a task execution system is developed on the Andriod platform.Then,several experi ments are done to test the designed smart car and to illustrate our methods.