Information physical fusion system modeling method based on SysML/MARTE
A technology of cyber-physical fusion and modeling method, applied in the field of modeling, it can solve the problems of ineffective expression, incapable of cyber-physical fusion system architecture, model heterogeneity, real-time behavior, random behavior modeling, etc.
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[0070] The method of the present invention is further described in conjunction with the specific examples and accompanying drawings of the SysML / MARTE-based modeling robot path planning system.
[0071] This paper regards the robot as a point based on the path planning visual graph method, and connects the starting point, task point and destination to form a visual graph, while ensuring that these lines do not intersect with static obstacles, and the target robot moves to the final position along the passable path. Among them, the problem of finding the optimal path is transformed into the problem of finding the shortest path through the starting point and the task point to the destination. We can get the shortest path for the target robot to reach the final position in a static environment (that is, the trajectory of the target robot), but for a working environment with dynamic obstacles, the target robot may collide with the dynamic obstacles. Usually, the target robot moves...
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