TY - GEN
T1 - Formal specification and simulation of the robot path planner
AU - Belkhouche, M. Yassine
AU - Belkhouche, Boumediene
PY - 2009
Y1 - 2009
N2 - Simulation software plays a very important role in education and research applications. They provide a safe, easy and flexible environment for developing and testing new methods. However developing a simulation software that reflects the exact behavior of the real system is a difficult and complicated task. In this paper we used hybrid process algebra to build a formal model that describes the exact behavior of the path planner module of autonomous mobile robots. The robot path planner is described by a powerful recursive process. The robot moves in four modes heading-regulation, move-to-goal, move-to-inter-goal, and obstacle-avoidance mode. Each motion mode is described by a process. The overall behavior of the path planner is the result of the communication between the four processes. The developed model is then implemented as simulator for mobile robots.
AB - Simulation software plays a very important role in education and research applications. They provide a safe, easy and flexible environment for developing and testing new methods. However developing a simulation software that reflects the exact behavior of the real system is a difficult and complicated task. In this paper we used hybrid process algebra to build a formal model that describes the exact behavior of the path planner module of autonomous mobile robots. The robot path planner is described by a powerful recursive process. The robot moves in four modes heading-regulation, move-to-goal, move-to-inter-goal, and obstacle-avoidance mode. Each motion mode is described by a process. The overall behavior of the path planner is the result of the communication between the four processes. The developed model is then implemented as simulator for mobile robots.
KW - Formal specification
KW - Hybrid process algebra
KW - Hybrid systems
KW - Mobile robot simulation
UR - http://www.scopus.com/inward/record.url?scp=74849132158&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=74849132158&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2009.5346910
DO - 10.1109/ICSMC.2009.5346910
M3 - Conference contribution
AN - SCOPUS:74849132158
SN - 9781424427949
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 4484
EP - 4489
BT - Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
T2 - 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Y2 - 11 October 2009 through 14 October 2009
ER -