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Erschienen in:
2018 | OriginalPaper | Buchkapitel
About One Approach to Robot Control System Simulation
verfasst von : Eugene Larkin, Alexey Bogomolov, Aleksandr Privalov, Maksim Antonov
Erschienen in: Interactive Collaborative Robotics
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Mobile robot onboard equipment functioning is considered. It is shown, that abstract analogue of one equipment unit operation is an ordinary semi-Markov process. This abstraction is insufficient for analytical modeling the mobile robot as a whole, so to simulate synchronized onboard equipment functioning, it is necessary to use more complicated abstraction based on integration of ordinary processes to so-called M-parallel semi-Markov process. For definition of such abstraction notification “functional states” as combinations of structural states is introduced. Method of definition of semi-Markov matrix parameters, such as time of residence in functional states and probabilities of switches from current functional states to neighboring functional states is proposed. Theoretical result is confirmed by modeling of homogeneous system, every unit of which may resident in “on” of “off” state.