Метод та засоби тестування спеціалізованих компонентів мобільної робототехнічної платформи на робочих тактових частотах

Abstract

Processes of development of test scenarios, selection of technological means of testing hardware and software of specialized components of mobile robotic platform are analyzed. The methods and means of testing specialized components of the mobile robotic platform when operating at working clock frequencies are studied. It is improved the method of testing the hardware and software of the specialized components of the mobile robotics platform. This improvement is made due to the development of specialized scenarios and adaptation of the technological environment to the requirements of a specific application, ensures an increase in the quality of testing in real time. It is shown that the main stages of testing specialized hardware at working clock frequencies are: the development of a test plan, setting of a working clock frequency, creation of a test environment, execution of tests, comparison of test results with reference results, analysis of comparison results. For testing, two environments and two test scenarios are developed: testing of means of encryption and masking of control commands of the mobile robotics platform; testing means of unmasking and deciphering control commands of a mobile robotics platform. It is developed a neurofuzzy control system for the autonomous control of the movement of a wheeled mobile robotic platform, the main components of which are intelligent remote navigation sensors, a rule base, fuzzification, decision-making and defuzzification blocks. The structure of means and scenarios for testing blocks of neuro-like encryption/decryption and masking/unmasking of mobile robotic platform control commands are developed, which provide joint testing of both software and hardware at working clock frequencies. It is developed the structure of tools and scenarios for testing the fuzzy mobile robotic platform control system, which are focused on sequential testing of fuzzification, decision-making, and defuzzification blocks and provide joint testing of both software and hardware tools at working clock frequencies in real time. Using the improved method, testing of the mobile robotic platform control system is performed, which confirmed the feasibility of the chosen approach. The implementation of the latest methods and means of testing specialized components of complex systems saves time and financial costs and contributes to the long-term operation of systems as a whole as a result of identifying problems in the process of their creation.