Research on tasks assignment and navigation of multiple mobile robots based on Petri net

The task assignment and navigation method of multiple mobile robots based on Petri net theory are investigated.A robot routing method is presented for the task of materials collection in a constraint space.Also,the Petri net models for path crossing and the whole workshop circumstance are constructed.So the robots in storehouse are scheduled real-time by task assignment model,and the collision among robots in the corner can be avoided.The collision avoidance models of task are constructed and analyzed.Simulation verification is realized for the presented tasks scheduling method of multi-robot system.