采用综合逻辑和代数的方法刻画系统的动态行为 ,提出了分布式多 Agent系统流水线调度模型的矩阵分析法 ,并可直观地得到系统的 Petri网模型 .将该方法应用于自主式智能机器人流水线导航模型的分析 ,为系统的设计和优化提供理论依据 .该方法比一般的 Petri网分析法简捷、完备 ,并有严密的数学描述和分析手段 The dynamic behavior of the system is described by the method of synthesis logic and algebra, the matrix analysis method of pipeline scheduling model of distributed multi-Agent system is proposed, and the Petri net model of the system can be obtained intuitively.The method is applied to autonomous intelligent robotic pipeline navigation Model analysis provides a theoretical basis for the design and optimization of the system.The method is simple and complete than the general Petri nets analysis and has strict mathematical description and analysis means