Modeling and simulation of AUV system based on object-oriented Petri net

The autonomous underwater vehicle (AUV) system is a complex and large-scale system, which is subsequent interactive and distributed. Therefore, we apply OOPN method to model it. The AUV system was analyzed and divided into several modules; and the system models of each module were set; the OOPN model of AUV system was constructed and analyzed, and its simulation result was consistent with the practical process. Through the modeling, we can see that the state explosion in ordinary Petri net modeling is well avoided and the OOPN model processes preferable modularity, reusability and maintainability.