Title :
Synthesis of control units for mobile robots
Author_Institution :
Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
To design a control unit for a mobile robot, the finite state machine (FSM) describing the behavior of such a robot should be constructed. As a rule, it is difficult to construct an optimal FSM to represent a complex behavior of the mobile robot containing several subbehaviors. We present the formal method for synthesis a control for mobile robots, including the following procedures: representation of each subbehavior as an algorithmic state machine (ASM), combining several private ASMs into one aggregated ASM, constructing a finite state machine, implementing aggregated ASM, and synthesis of FSM´s logic circuit
Keywords :
control system CAD; finite state machines; formal logic; mobile robots; path planning; programmable logic devices; table lookup; CAD; algorithmic state machine; collision avoidance; control unit synthesis; finite state machine; formal method; logic circuit; mobile robots; navigation; programmable logic devices; table lookup; Automata; Circuit synthesis; Control system synthesis; Force control; Infrared detectors; Mobile robots; Motion control; Robot control; Robot motion; Robot sensing systems;
Conference_Titel :
Advanced Mobile Robots, 1997. Proceedings., Second EUROMICRO workshop on
Conference_Location :
Brescia
Print_ISBN :
0-8186-8174-8
DOI :
10.1109/EURBOT.1997.633581
