Abstract
The process of control of mobile robots (MR) with typical structure, which includes sensors, onboard computer, servomechanisms being organized in multi-loop control systems, and a communicator, is investigated. It is shown, that distinctive feature of the process of MR control is rigid demands both to time of sensors/servomechanisms interrogation, and to delay between receiving information from sensors and delivering adequate command to servomechanism. Approach to modeling of the process of interpretation of external commands by onboard digital control system, based on representation of cyclogram of equipment functioning as 2-parallel semi-Markov process, is proposed. Method of transformation of 2-parallel process into ordinary semi-Markov process is worked out. Dependencies for definition of elements of semi-Markov matrix of pooled semi-Markov process are obtained. Also are obtained dependencies for calculation of time and stochastic parameters of wandering through pooled semi-Markov process and distribution of probabilities of residence of process in its states in steady state regime of functioning. Perspectives of development of direction of mobile robot control are determines.
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Acknowledgments
The reported study was partially supported by RFBR and Tula Region Government, research projects No. 15–48–03232 r_a and 16–41–710160 r_a.
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Larkin, E., Ivutin, A., Kotov, V., Privalov, A. (2016). Semi-Markov Modelling of Commands Execution by Mobile Robot. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2016. Lecture Notes in Computer Science(), vol 9812. Springer, Cham. https://doi.org/10.1007/978-3-319-43955-6_23
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DOI: https://doi.org/10.1007/978-3-319-43955-6_23
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