Dynamic reprogramming methods for a mobile robot with modular architecture.

Abstract

THE PURPOSE of this article is to analyze existing and promising methods of dynamic reprogramming suitable for use in a mobile robot with a modular control system architecture. The article briefly describes functional-modular architecture of the control system (CS) of a mobile robot implementing distributed computing, which makes it possible to ensure the real-time operation of the modules’ CS even when it’s built using low-power embedded systems. The article describes features of 4 different methods according to 6 criteria: applicability on different embedded systems, the amount of operating and program memory required, the speed of calculations, the theoretical complexity of creating an implementation of the method, the theoretical complexity of using the method by the end user (tuner), the flexibility of the method being created. The results of this study are given in form of recommendations for the application of the considered methods in different environments and purposes.