Designing an Interactive Control for Multi-Robots Scenes based on Petri Nets

The rapid development of the mobile Internet makes the remotely controlled mobile robots systems widely used. In this kind of systems, there are autonomous robots fully controlled by computers and semi-autonomous robots requiring human control. Thus, such a system needs the cooperation between humans and computers when it is assigned to complete a task. This work proposes an interactive-control-model to solve the human-computer interactive control under multi-robots scenes, which is an extension of our previous research. It uses the bounded Petri nets to model the system that can deal with the explosion problem of the interactive-control-model, and presents a constraints merging method to simplify constraints of the system which can optimize the control of constraints. The result is proved to be effective and can be applied to practical mobile robots systems.