【摘要】 协调调度是保证智能机器人系统有效完成工作的关键．本文针对自主式移动机器人的系统结构，利用Ｐｅｔｒｉ网建立了同步和异步两种流水线模型，并分析了各自的特点和性能：同步流水线模型适用于功能模块工作时间大致相等且稳定的场合，能发挥精确、安全的优势；异步流水线模型则具有更快的处理速度．更多还原

【Abstract】 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.更多还原