While soccer robots have the character of discrete event system (DES),and Petri net is a good modeling tool of DES,which could intuitively reflect the dynamic characteristic of DES.

• 足球机器人具有离散事件系统(DES)的特征,而Petri网是一种很好的离散系统的建模工具,能够比较直观地反映系统的动态特性。