A model-driven approach for generating embedded robot navigation control software

Abstract

Real-time embedded systems are time-critical systems that are hard to implement as compared to traditional commercial software, due to the large number of conflicting requirements. This paper describes undergraduate research into the use of advanced modeling techniques to improve the development of embedded systems. In particular, we have developed domain-specific models that describe the configuration and layout of a hazardous environment, which is symbolically represented as an area contaminated with hazardous materials (e.g., land mines), as well as objects to be rescued (e.g., babies). The motivation is to model a disaster site that is too dangerous for humans to search for survivors. From the visual model specifications, model interpreters will generate the embedded code that will control two LEGO Mindstorms robots. The mission of the robots is to traverse the hostile terrain and rescue the surviving babies. The modeling environment and generative techniques are described.