Software analysis for mobile robots control programs

Abstract

The use of the software allows the mobile robot to control the working parameters: turn on and off the mechanisms and devices, monitor the indicators of the sensors, perform various technological operations (cutting, welding, painting, etc.), calculate the trajectory of movement depending on the working surface, etc. Research in the field of robotics testifies to the high activity of scientific works on the creation of high-precision and energy-efficient robotic systems in general for autonomous mobile robots by improving control programs. The work is devoted to the review and analysis of the software for creating control programs for mobile robots. The work presents a generalized structural diagram of a hierarchical mobile robot control system, in which decentralized software processing of information takes place, and separate software and hardware components are remote from each other. When building a mobile robot control system, various robot programming environments are considered, which represent a wide range of tools for creating various models and systems. Moreover, the issues of using graphic and text software environments with high-level programming languages are considered. Development environments are considered among the software complexes: LabView; NXT-G; Robolab; EV3-G; MRDS; Scratch; 12Blocks; Simulink; ROBO Pro; Arduino Studio and TRIK Studio. The following are considered the most common programming languages at work: C++, Python, Pascal, JAVA and Scratch. All software is analyzed according to the following criteria: mathematical expressions, computational model, interpretation, stand-alone use, code generation, modeling, debugging, tutorials, free, platforms, designers, license and development prospects. Among the software, EV3 and Arduino text tools stand out for their capabilities, and Simulink and LabView among graphic tools, as these software tools have proven themselves to be powerful development environments with fairly universal approaches to creating programs in mobile robotics.