Semi-Markov Modelling of Commands Execution by Mobile Robot

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.