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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．
Coordinated scheduling is the key to ensure the intelligent robot system effectively finish the work. Aiming at the system architecture of autonomous mobile robot, this paper establishes two synchronous and asynchronous pipeline models using Petri nets and analyzes their own characteristics and performance. Synchronous pipeline model can be applied to the occasions when the working time of functional modules is roughly equal and stable, Accurate, safe advantage; Asynchronous pipeline model has a faster processing speed.