| In this research, we propose the implementation of a subsumption based control architecture with Model-Driven Development for autonomous mobile robots. We consider the scenario of an Unmanned Ground Vehicle conducting a survey (mapping and reconnaissance) of an unknown area/environment and, on completion of the survey, persistently patrolling (surveillance and data collection) of the area. Currently, there is limited literature exploring the use of Model-Driven Development for autonomous robotics and even less research discussing Model-Driven Development of subsumption based control systems. However, since subsumption may be represented as state machines, we aim to execute the aforementioned task in experiments using the Husky Unmanned Ground Vehicle, a Clearpath Robotics Inc. product, to demonstrate the benefits of Model-Driven Development and the utility of using the architecture to perform a more complicated task autonomously. Our results show that a subsumption based controller implemented with Model-Driven Development is effective in executing mapping tasks but producing a schedulable system presents challenges. |
