Engineering Software for a Mobile Robot Motion Control System

Abstract

Abstract The paper centres round the problem of the engineering a motion control system for a mobile robot based on the effective selection of software components with respect to the numerical criterion proposed by the authors. The data for the selection process comes out the reproducible experiments with the sets of alternative components in a Gazebo virtual infrastructure simulating the real robot operating conditions. The genetic algorithm is used to reduce the number of experiments with unpromising sets of software components. The methodology proposed by the authors is applied to the real task of engineering a motion control system for a non-anthropomorphic mobile robot. The virtual infrastructure and genetic algorithm parameters are provided as well as the physical model of the robot for that task. To calculate the integral quality criterion proposed in the paper, 4 partial quality criteria were measured in the experiments with different software components. The motion process of the physical robot with the selected software components is shown.