Development of Mobile Robots based on Wireless Robotic Components using UML and Hierarchical Colored Petri Nets

The paper presents the modeling, simulation, and implementation of mobile robots based on wireless robotic components (WRCs) through a model-based development framework that uses the Unified Modeling Language (UML) and Colored Petri Nets (CPNs). Each WRC is a standalone module composed of a wireless communication unit, a processing unit, and sensor(s)/actuator(s) to perform a specific function. The WRC architecture is described generically by UML diagrams to lead the development of WRC-based robotic systems. The proposed framework customizes the UML diagrams based on the analysis of the robot platform, its assigned task, and the operational environment. Then the WRC behavioral design specifications are translated to the formalism of CPNs. The developer complements the CPNs to generate a module per each WRC into a hierarchical CPN. The WRC architecture and the development framework are used to implement an Ackermann steering robot and differential drive robots to perform the tasks of wall-following and exploration while avoiding obstacles, respectively. The validation schema follows three phases: simulation, hardware-in-the-loop (HIL) simulation, and physical implementation of mobile robots configured with the appropriate WRCs. The experimental results validate the development framework using standard and formal modeling tools to guide the implementation of robotic systems build with WRCs.