Abstract
This paper presents a new modeling method, called CTOPN (colored timed object-oriented Petri net), to model AUV (autonomous underwater vehicle) system. Firstly, the definition of a CTOPN is introduced, then the procedure of developing a CTOPN model for AUV system and a deadlock detection algorithm is given, at last the simulation validation is done. The CTOPN model of AUV system is proved deadlock-free and the simulation result is accordance with the actual system.
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