On the design and prototyping of a mobile robot control system

Tapio Heikkilä, Jyrki Okkonen, Leila Rannanjärvi, C. Schaeffer, Klaus Känsälä

    Research output: Contribution to journalArticle in a proceedings journalScientificpeer-review


    Modularity is necessary to handle the emerging complexity of modern mobile robot control systems, especially in the early phases of the design work. Today’s control systems are facilitated by multi-technological solutions, families of products based on some kemel of solutions, and updates and configurations because of customizations. Exact and verified specifications are of key importance when considering effectiviness of design work for such systems. An example on the development of a mobile robot control system is presented, where the overall system design is guided with well defined functional architecture, called PEM-modelling, to provide consistency and cohesion in the system structures. The requirement definition is carried out following the principles of structured analysis with tools SA-PROSA™ and ReaGeniX™, providing ways for exact definitions and fast prototyping. The graphical-textual ReaGeniX™ language follows the SA-principles, but has clear semantics and syntax guaranteeing the exactness.
    Original languageEnglish
    Pages (from-to)42-48
    JournalIFAC Proceedings Volumes
    Issue number11
    Publication statusPublished - 1995
    MoE publication typeA4 Article in a conference publication
    Event2nd IFAC Conference on Intelligent Autonomous Vehicles '95, IAV '95 - Espoo, Finland
    Duration: 12 Jun 199514 Jun 1995


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