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Autonomous mobile robot navigation model based on pipeline structure

HU Xiao min,ZHU Miao liang,ZHANG Xin hui(Dept.of Computer Science & Engineering,Zhejiang Univ.,Hangzhou 310027,China)  
Coordination is of vital importance for intelligent robot system to complete its jobs effectively.Based on autonomous mobile robot in this paper,we present synchronous and asynchronous pipeline models using Petri Net.At the same time,we analyze the characteristics and performances of both two models.Synchronous pipeline model is quite suitable if the function modules is about the same and is stead or asynchronous system can manage it more quickly.
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