Gunardi, Yudhi (2023) New approach of mobile robot navigation based on mirror petri net method. Doctoral thesis, Universiti Tun Hussein Onn Malaysia.

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Abstract

Navigation is one of the important problems which must be solved in the development of mobile robot technology. The movement of a mobile robot from one place to another is expected to be fast and precise, even in conditions where there are many obstacles. At a crossroad, a robot has a choice to move straight, turn left or turn right. Many studies have focused on the movement of the robot from one place to another without taking into consideration about its movement back its original location. This thesis focuses on the movement of a mobile robot which moves from one position to the target position and then return to its original position using the mirror petri net method. The mirror petri net method is developed based on the petri net method, which is one of the modeling methods that can be applied to various types of systems. The formation of the mirror petri net model is made separately when departing and returning which will use the same marking value but will result in different navigation, when a mobile robot is stop it becomes moves, when it moves it becomes stop, when it turns left will becomes turn right, when turning right it becomes turn left except when the movement of the intersection which does not turn left or right then the movement of the robot remains straight. In conclusion, the mirror petri net method is effective for moving mobile robots from the origin position to the target position and return to the origin position. This is proven in all the experiments where the mobile robot can move to a selected room and return to its original position

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