Hardware-in-the-loop simulation for real-time software verification of an autonomous underwater robot
International Journal of Intelligent Unmanned Systems
ISSN: 2049-6427
Article publication date: 4 July 2016
Abstract
Purpose
The purpose of this paper is to propose a software engineering procedure for real-time software development and verification of an autonomous underwater robotic system. High performance and robust software are one of the requirements of autonomous systems design. A simple error in the software can easily lead to a catastrophic failure in a complex system. Then, a systematic procedure is presented for this purpose.
Design/methodology/approach
This paper utilizes software engineering tools and hardware-inthe-loop (HIL) simulations for real-time system design of an autonomous underwater robot.
Findings
In this paper, the architecture of the system is extracted. Then, using software engineering techniques a suitable structure for control software is presented. Considering the desirable targets of the robot, suitable algorithms and functions are developed. After the development stage, proving the real-time performance of the software is disclosed.
Originality/value
A suitable approach for analyzing the real-time performance is presented. This approach is implemented using HIL simulations. The developed structure is applicable to other autonomous systems.
Keywords
Citation
Sarhadi, P., Nad Ali Niachari, R., Pouyan Rad, M. and Enayati, J. (2016), "Hardware-in-the-loop simulation for real-time software verification of an autonomous underwater robot", International Journal of Intelligent Unmanned Systems, Vol. 4 No. 3, pp. 163-181. https://doi.org/10.1108/IJIUS-12-2015-0016
Publisher
:Emerald Group Publishing Limited
Copyright © 2016, Emerald Group Publishing Limited