Formal Specification of a Mobile Robot with Modular Architecture for Navigation in Dynamic Environment
Victor P. Andreev, Valerii Kim · Annals of DAAAM for ... & proceedings of the ... International DAAAM Symposium · 2021
This article discusses the organization of inter-modular information interaction in a mobile robot with a hierarchical architecture of the control system.The use of the principle of the full functionality of the modules allows real-time reconfiguration of such mobile robots and the distribution of the computational load between the modules to provide a real-time mode.The purpose of the work is to present a formal description, mathematical and computer models of the control system of a modular mobile robot, and inter-modular information interaction in the process of solving the general problem of a mobile robot.The two-level hierarchical architecture of the control system is considered, which consists of an intelligent control module, transport and sensor modules.The described robot control system provides navigation in an environment with dynamic obstacles.The functionality of the main modules of the robot and the requirements for their inter-module interfaces have been determined.An analysis of well-known methods for avoiding moving obstacles is given, which made it possible to establish the requirements for the functionality of the transport and sensor modules and their inter-module interface.The article presents the results of a computer simulation of the movement of a modular mobile robot in a dynamic environment.The specificity of the work of a modular system with a hierarchical organization of the control system is shown.A modular mobile robot is proposed to be represented as a network of intelligent agents in a multi-agent environment, the mathematical model of which can be formally described using the theory of finite automata.