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Published in:
2014 | OriginalPaper | Chapter
Modelling and Analysis of a Redundant Mobile Robot Architecture Using AADL
Authors : Geoffrey Biggs, Kiyoshi Fujiwara, Keiju Anada
Published in: Simulation, Modeling, and Programming for Autonomous Robots
Publisher: Springer International Publishing
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As the complexity of robots deployed in the real world increases, the use of formal specifications in the development of safety-critical robot systems is becoming increasingly important. A formal specification gives confidence in the correctness, completeness, and accuracy of a system design. In this paper, we present a formal specification of a redundant control architecture for a mobile robot in the form of a model. The model is created using the Architecture Analysis and Design Language (AADL). This formal language allows the model to be analysed to prove system properties of interest. In this case, we are interested in proving the response time of the robot to external obstacles and to internal errors. We present the model and the results of these analyses with the goal of proving that the architecture is sufficiently safe for use in a safe robot wheelchair.