CN110298100A - A kind of mobile robot run time verification method of Environment Oriented modeling - Google Patents
A kind of mobile robot run time verification method of Environment Oriented modeling Download PDFInfo
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Abstract
The present invention discloses a kind of mobile robot run time verification method of Environment Oriented modeling, firstly, the definition rule according to design formalizes domain knowledge for the mathematical model of only one system parameter and single Environmental Factors；Then, the mathematical model for only having an Environmental Factors under same system parameter is merged under same system parameter the mathematical model for having one or more Environmental Factors by design merging rule；Then, environmental model is expressed as general pseudocode form by design transformation rule；Finally, the pseudocode of environmental model is combined in attitude layer by design rule of combination, generates monitor and execute verifying, adapts to the variation of environment by adjusting dynamic input or parameter area in environmental change.The method of the present invention can properly process influence of the physical environment to robot behavior in time, must monitor model more accurately and completely；The implementation procedure for not influencing run time verification is completed before generating monitor as the preparation work of verifying model foundation.
Description
Technical field
A kind of mobile robot run time verification method of Environment Oriented modeling of the present invention, and in particular to one kind is at runtime
The environmental modeling method of mobile robot, belongs to robot security's technical field in verification process.
Background technique
As mobile robot is using more and more extensive, people enjoy robot bring service and it is convenient while
Also the safety of mobile robot is increasingly paid close attention to.Since mobile robot works in true physical environment, the dynamic of environment
Variation can have an impact the implementation effect of robot, these influences may result in the sensing data received and positive reason
Condition is compared to there are deviations, to make the decision not met under present case, so that mistake occurs for mobile robot or danger
The behavior of danger.How to guarantee that the safety and reliability of system is the emphasis of numerous scholar's researchs under complex environment.
In complex environment, the physical factor for influencing robot has very much, such as the vibration of noise, wireless signal and air
Deng.Such as in Medical Robot field, operating room is a noisy environment, and noise will affect the table of robot during operation
It is existing.Wherein Siu et al. is had found by the experiment to Vinci surgical operation robot, and the surgical tasks that Vinci robot executes are got over
Difficulty, noise effect are more obvious.Noise reduces the effect of robotic surgery, different types of noise, such as random or have rhythm
Sound it is different to the surgical tasks influence degree of robot.In addition, in the navigator fix research of robot, the human hairs such as Park
Now due to the property of antenna and IC tag, when being positioned using Radio Frequency Identification Technology to Mobile Robotics Navigation and Attitude estimation,
It always will appear the uncertain problem of positioning.
In order to guarantee the safety and reliability of system in these complicated physical environments, domestic and foreign scholars are proposed
Many methods.Such as in order to overcome sensor noise, by being proposed terrestrial reference feature as the external reference source of robot instead
Feedback and authentication mechanism.In order to make the variation of autonomous robot response environment in the developmental research remotely perceived, Tabak et al. is mentioned
A kind of algorithm is gone out, has been generated or the 3-D volume-based model of more new environment by collecting data at different location in the environment.This
Outside, it can also constantly be adjusted using the knowledge of machine learning method, Fusion, video feed mechanism and mechanics
Whole environmental model, to adapt to the variation of environment.But in complicated and variation environment, due to environmental change can not be pre-
Opinion property, system model can not be established in advance, it is therefore desirable to study new method to handle such case.
The present invention refers to run time verification (RV) method in mobile-robot system, and monitoring mobile robot is not true
Determine the behavior in environment, captures and avoid physical environment bring dangerous problem.Run time verification method is as test, model inspection
The supplement of the traditional qualities support methods such as survey, does not need to establish system model in advance, but the trace generated for program carries out
Real-time modeling set analysis.
Summary of the invention
The purpose of the present invention is to provide a kind of mobile robot run time verification methods of Environment Oriented modeling, to be directed to
Solve the problems, such as that traditional system model makes mobile robot that can not capture and avoid danger under the physical environment changed at any time,
As shown in Figure 1.
The basic module of mobile robot is roughly divided into controller, three parts of actuator and physical system.This three big portion
Divide and requires in the same local area network.Firstly, control command is sent to actuator by network by control system.Then, it holds
Row device selects the suitable pass down the line that executes to physical system after receiving order.Finally, physical system executes order generation
Reason behavior.Wherein, it is guarantee system safety that controller, which ensures to control program to follow attitude layer to send correct decision order,
One key point of property.Therefore, event information is monitored into run time verification deployment in real time on the controller, and in physical system
Information warning or parameter information are sent to controller when behavior violates attitude layer.It is combined when executing run time verification
Environmental modeling method can properly process influence of the physical environment to robot behavior in time, so that monitoring model is more accurate
With it is complete, but also the security attribute of mobile robot can meet always in the case where environment dynamic change.
A kind of mobile robot run time verification method of Environment Oriented modeling of the present invention, devises model definition, model
Merge rule, transformation rules and model rule of combination, domain knowledge is defined as to be combined to monitoring model after environmental model
In, the process of environmental modeling method is as shown in Figure 2.Firstly, according to the definition rule of design by domain knowledge formalization for only
The mathematical model of one system parameter and single Environmental Factors.Then, design merge rule by under same system parameter only
There is the mathematical model of an Environmental Factors to merge into the number for there are one or more Environmental Factors under same system parameter
Learn model.Then, environmental model is expressed as general pseudocode form by design transformation rule.Finally, design rule of combination will
The pseudocode of environmental model is combined in attitude layer, is generated monitor and is executed verifying, in environmental change by adjusting dynamic
Input or parameter area adapt to the variation of environment.The method does not influence the implementation procedure of run time verification, it is as monitoring model
The preparation work of foundation is completed before generating monitor.Detailed process is as follows for the method for the present invention:
1. physical environment model defines
The reason of physical environment has an impact mobile robot behavior is that certain parameters in system can be because of physical rings
The change in border and change, be embodied as system dynamic input deviates, so that the logic for influencing control system is sentenced
It is disconnected, so feed through to the behavior of mobile robot.Avoid this influence, it is necessary first to determine system parameter and physical environment
Relationship, this relationship are provided by pertinent arts, are finally defined according to the environmental model of design come unified representation.Before this,
First defining relevant symbol indicates, the set S={ s of system parameter1,…,si,…,sn, the set E=of environmental parameter
{e1,…,ej,…,em, wherein i, n, j and m are positive integer, set each of element all use a binary group (name,
Type) the title and type of marker element.Here is the related definition to physical environment.
Define 1 (environmental model): environmental model produces s by triple M (s, E', R) one system parameter s of expression and one group
Relationship between the raw environmental parameter set E' influenced.Wherein s ∈ S,R={ r1,…,sk,…,slBe s and E' it
Between one group of mathematical relationship set, wherein k and l is positive integer.
Define 2 (relationships): a relationship r ∈ R is defined by a triple (F, VC, L).Wherein F is the statement portion of function
Point, including function name, the parameter list of function and return Value Types.F specifies system parameter s to be occurred in whole system code
Position.VC is a binary group (value (s), C (E')), and wherein C (E') indicates current environmental condition, is one and includes E'
Logical expression.Value (s) indicates the value of system parameter s at condition C (E'), it can be a numerical value, can also be with
It is a calculating formula.L indicates influence rank of the environmental parameter to system parameter with this condition.It is a series of for influencing rank
Positive integer, numerical value is bigger, and to represent influence degree smaller.This, which influences rank, to be provided by domain knowledge.
2. environmental model merges rule
One system parameter may be subjected to the influence of multiple physical factors, and similarly, physical factor may also can
Influence multiple system parameters.Relationship between them be it is complicated, the expression in domain knowledge is very simple, but is running
When verifying in be difficult operation because the relationship between the different affecting factors of same system parameter can not be effectively prevented from
It is complete and mutual exclusion.Therefore it needs to standardize by design merging rule and standardizes these independent mathematical models, this
Mathematical model is converted to pseudocode and provides logical foundations by rule to be subsequent.
Assuming that there are two environmental model M1(s1,E1',R1) and M2(s2,E2',R2), if s1=s2, then the two are to same
The environmental model that a system parameter is established can merge, it is assumed that amalgamation result is M (s, E', R), wherein s=s1.Specifically
Merge rule to be defined as follows.
Precondition: identical system parameter is the precondition that judges two environmental models and whether can merge.
Model computation rule: set M={ m1,m2,...,mmAnd N={ n1,n2,...,nnDo combination operation the result is that
F (m, n), wherein every two element takes " && ", take between obtained result " | | ", i.e. { (m1&&n1)||(m1&&n2)||…||
(mm&&nn)}.Wherein subscript m and n are positive integer.
First model combination rule: also making model internal standardization regular, is a kind of merging rule for relationship.Specially
Make " | | " operation between element in set of relationship, " | | " is the "or" in logic.Wherein VC executes " | | " operation, and F and L are not
Become.Such as M1Middle R1={ r11,r12…r1n, execute R after this rule1={ r11||r12||…||r1n}={ F1,(VC11||VC12|
|...||VC1n),L1, M2Similarly.
Second model combination rule: if E1'=E2', F1！=F2That is function position of the system parameter s in system code
Difference does not need to merge then environmental model is then independent each other.For standardized writing, M can be write as (s, { E1',E2'},R1
∪R2), it can also remain unchanged.Such as: M1R in model1=(F1,VC1,L1), M2R in model2=(F2,VC2,L2), F1！=
F2, the R={ R of M after standardization1∪R2}={ (F1,VC1,L1)∪(F2,VC2,L2)}。
Third model combination rule: also it is normalisation rule between model.If E1'！=E2' and F1=F2, i.e. system parameter
The physical influence factor of s is different, but the function position in system code is identical.Merging rule is E={ E1',E2', relationship
F=F in R1, VC executes model computation rule, and L takes L1And L2In minimum value, i.e. L=Min { L1,L2}.Under combination condition, it is
The value of system parameter value (s) takes the maximum value of degree affected by environment, i.e. Worst { value1(s),value2(s)}。
E is not present herein1'=E2' and F1=F2The case where, because in an environmental model M (s, E', R), for
One system parameter s and specific E', R have completeness.When environmental model does not meet the precondition for merging rule,
The first model combination rule is executed, standardized operation is carried out to itself.Second model combination rule and third model combination rule
It is the merging rule between model, wherein whether system parameter is being to determine whether can close between environmental model in the same function
And key.When multiple models carry out standardization merging, executes merge rule until being unsatisfactory for combined precondition two-by-two.It deposits
When the case where a variety of physical factors influencing multiple system parameters, according to the precondition of model combination, will have respectively identical
The mathematical model of system parameter merges.
3. environmental model transformation rule
The final purpose for establishing environmental model is that this model is combined in runtime property specification, so that in-service monitoring
Process can adapt to the variation of environment, handle influence of the complex environment to physical system (CPS) in time, to allow security attribute
Meet always in complicated physical environment.Before the combination, in order to simply express and realize environmental model, this
Text proposes to convert code for pseudocode as centre.Pseudocode (Pseudo code) is a kind of algorithm description language, its structure is clear
Clear, code is simple, readable good, and similar natural language.For any one environmental model M=(s, E', R), relationship R
=(F, (value (s), c (E')), L), transformation rule is divided into the following steps:
(1) respective function is generated according to the information of F in relationship.
(2) it variable declarations: in function, if s is not the local parameter of function, generates a s variable and initializes.
(3) sentence is judged according to (value (s), C (E')) formation condition, wherein C (E') is Rule of judgment, value (s)
For the value of s under the present conditions.Wherein additional character " | | " represents " else if " in a program.
(4) union symbol " U " appearance then regenerates a new function, executes (1)-(3) step.
Environmental model be converted to pseudocode key be (value (s), C (E')) pair logical transition, by environment to system
The relationship of parameter is converted to programmed logic language, convenient for model pseudocode is combined in attitude layer later.In (2) step
Variable declarations are the grammer needs in pseudocode, and in monitoring model, s defines program by the event in specification and captures to obtain.
4. model rule of combination
The purpose of rule of combination be by Implementation of pseudocode be specific programming language program after be combined to attitude layer
Event action part, specific rule of combination are divided into following steps:
(1) event traversed in all properties specification defines, in the function and environmental model code for selecting event point of penetration
Function F it is identical and in event action containing system parameter s participate in calculate event.
(2) select code block: wherein code block is initially sentence of first system parameter s in assignment right side of the equal sign,
The end mark of code block is sentence of the last item system parameter s in assignment right side of the equal sign.
(3) code block is replaced to environmental model as a whole and corresponds to the execution sentence that if condition controls in pseudocode.If
When the case where corresponding to multiple model codes there are a code block, i.e., the system parameter s in multiple model codes appears in same
In a expression formula, it is primary that the if condition in all model codes is subjected to the new model code replacement after mathematical combination operation at this time
Code block.
(4) s on the right of assignment symbol is replaced into identical Rule of judgment in the corresponding pseudocode of environmental model and executes in sentence
S new value.
(5) finally formed function code is inserted into current event and replaces code block.
Attitude layer event define in tie point be section insertion application program place, can be example and static state side
Value and the operation such as the calling of value, the calling of constructor and execution is set in the calling and execution of method, example domains and static fields.And it cuts
The effect of access point is then to filter these tie points, matches qualified tie point to activate event.Here event point of penetration
Function refer to event define in specified matching condition in<AspectJ advice>function, discriminant function " identical "
Necessary and sufficient condition is return value, and the parameter list of permission modifier and function is all identical.In rule of combination, the division of code block
It is key, target lock-on will be modified and add environmental condition on the sentence that system parameter participates in model calculating.
A kind of mobile robot run time verification method of Environment Oriented modeling of the present invention, advantage and effect are: should
Method can properly process influence of the physical environment to robot behavior in time, so that monitoring model is more accurately and completely,
The security attribute of mobile robot is met always in the case where environment dynamic change.When the method does not influence operation
The implementation procedure of verifying, it is completed before generating monitor as the preparation work for verifying model foundation.
Detailed description of the invention
Run time verification schematic diagram of the Fig. 1 towards mobile robot
The flow chart of Fig. 2 environmental modeling method of the present invention
Specific embodiment
With reference to the accompanying drawings and examples, the following further describes the technical solution of the present invention.
The hardware device and data acquisition results that the embodiment of the present invention is based on first are introduced below.
(1) hardware device
The experiment porch of the embodiment of the present invention has selected EV3 robot, it can load multiple sensors, as ultrasonic wave passes
Sensor, touch sensor, gyroscope etc..Wherein, the embodiment of the present invention mainly uses ultrasonic sensor, touch sensor and two
A large-size machine (built-in angular sensor).
In addition to this, EV3 is also compatible with leJOS third party library to support Java language to program, and leJOS EV3 can both be run
The monomer java applet downloaded can also be interacted by bluetooth, wireless or USB and remote control terminal, receive long-range control
System.Experimental design scene of the present invention is that mobile robot drives at a constant speed the avoidance task that executes, and the single execution time at least needs ten
Minute, sensor sample frequency is set as 1s, also, it is known that the measurement accuracy of ultrasonic sensor is 1cm, measurement distance for 3~
250cm。
(2) data acquire
Find to work as robot that with constant speed setS (m/s), actual travel speed will be by battery when driving in an experiment
The influence of electricity.It is right from 0.42 (m/s) to 0.78 (m/s) under the conditions of current experiment in order to study specific influence relationship
EV3 has carried out 2,000 test of many times.
From test as can be seen that there are mathematical relationships below between setting speed setS and electricity battery.
S1: as setting speed setS≤0.48, setS is not influenced by electricity.
S2: when setS ∈ (0.48,0.66], and when meeting battery≤(setS+0.1347) ÷ 0.1024, exist
Influence relationship are as follows: speed=0.1024 × battery-0.1347.
S3: when setS ∈ (0.48,0.66], and when meeting battery > (setS+0.1347) ÷ 0.1024, setS will
The influence of electricity is not will receive.
S4: as speed setS > 0.66, there are relationship speed=0.0876 × battery-0.0056.
Smaller when velocity amplitude setting, the travel speed of robot is influenced smaller by electricity, and easier holdings setting is fast
Degree traveling.Conversely, the setting value when speed is bigger, influenced by electric quantity change bigger, actual travel speed will appear deviation,
Even it is extremely difficult to setting value.
Embodiment
1. establishing environmental mathematics models
When mobile robot is driven at a constant speed with fixed speed setS (m/s), actual travel speed Speed (m/s) will
It is influenced by battery capacity Battery, Speed is a system parameter here, and Battery is one and generates to system parameter
The factor of influence, wherein Speed=(speed, double), Battery=(battery, double).It is adopted according to above-mentioned data
Founding mathematical models for four kinds of scenes in collection result.
The present embodiment is related to the relationship between a system parameter Speed and a physical factor Battery.Assuming that closing
System is R0, then the corresponding mathematical model of the present embodiment should be M0=(Speed, { Battery }, R0).For the ease of writing, it is
Complicated expression formula defalias is as follows.
c1:=(setS≤0.48)
c20.48 < setS&&setS of :=(< 0.66&&battery≤(setS+0.1347) ÷ 0.1024)
v2:=(speed=0.1024 × battery-0.1347)
c3:=(0.48<setS&&setS<0.66&&battery>(setS+0.1347) ÷ 0.1024)
c4:=(setS >=0.66)
v4:=(speed=0.0876 × battery-0.0056)
Environmental factor should be by obtaining, since 1 to the influence degree of system parameter in domain knowledge, and numerical value is bigger to represent shadow
The degree of sound is smaller.In this embodiment, due to only one environmental factor battery, it is assumed that battery capacity is to speed
Influencing rank is 1, and variable speed is present in function handle.According to data acquire in S1To S4These four situations, relationship R0
={ r01,r02,r03,r04, it is specific as follows:
r01=(handle, (speed, c1),1)
r02=(handle, (v2,c2),1)
r03=(handle, (speed, c3),1)
r04=(handle, (v4,c4),1)
2. a pair environmental model merges
In model M0(Speed,{Battery},R0) in, relationship R0={ r01,r02,r03,r04}.Because only that a mould
Type, so only need to standardize to itself, after executing the first model combination rule, R0=(handle, ((speed, c1)||
(v2,c2)||(speed,c3)||(v4,c4)), 1), expansion (2) is as follows:
3. environmental model is converted to pseudocode
To model M0(Speed,{Battery},R0) standardized, obtain relationship R0=(handle, ((speed,
c1)||(v2,c2)||(speed,c3)||(v4,c4)),1).Followed by following steps are executed, by M0Be converted to pseudocode.
(1) according to R0In F generate handle function.
(2) it states speed variable, and is assigned a value of 0.When being realized using programming language, if the variable is already present on
In the parameter list of function, then step 2 can be omitted.
(3) if logical gate is established according to the VC relationship in relationship.
Final M0Pseudocode is as shown in table 1 below.
Table 1
It by Implementation of pseudocode is specific programming language by following rule of combination after converting pseudocode for mathematical model
Program is simultaneously combined in attitude layer, is finally carried out safety to attribute described in model using run time verification tool and is tested
Card.
4. combining pseudocode with attitude layer
Generate M0Pseudocode after, using Java language write function realize pseudocode in logic, according to rule of combination
It inserts it into attitude layer, steps are as follows:
(1) the event definition of all properties specification is traversed, and selects function event identical with handle.Such as belong in turn
In tri- events of setParameter, forward and turnNotification in property specification, only setParameter thing
Part is met the requirements, and system parameter speed takes part in the assignment calculating of risk distance danger variable.
(2) first speed is selected in beginning of the sentence as code block of assignment right side of the equal sign, the last item speed
Code block region delimited as the end of code block in the sentence of assignment right side of the equal sign.It is specific as follows:
As shown in above-mentioned 9th line code, code block includes mono- sentence of danger=0.3 × speed+0.01+0.146.
(3) the execution sentence for controlling if condition in code block as a whole substitution model code.
(4) speed on the right of assignment symbol identical Rule of judgment in environmental model code is replaced into execute in sentence
The new value of speed.
Finally, result obtained is as follows:
The present invention devises model definitional language and domain knowledge is modeled as environmental model.The environmental model initially set up is retouched
The mathematical relationship between a system parameter and single Environmental Factors is stated.Then, merging rule is devised by same tie
The environmental model of an only Environmental Factors, which is merged under same system parameter, under system parameter one or more environment shadows
Ring the environmental model of the factor.Then, it devises transformation rule and environmental model is expressed as to general pseudocode form.Finally, setting
Pseudocode is combined in attitude layer by meter rule of combination executes verifying.The method can be by adjusting dynamic in environmental change
Input or parameter area correctly handle influence of the complex environment to mobile robot in time.
Claims (4)
1. a kind of mobile robot run time verification method of Environment Oriented modeling, it is characterised in that: this method devises model
Definition, model combination rule, transformation rules and model rule of combination, are combined to after domain knowledge is defined as environmental model
It monitors in model: firstly, the definition rule according to design formalizes domain knowledge for only one system parameter and single ring
The mathematical model of border impact factor；Then, design, which merges rule, will only have an Environmental Factors under same system parameter
Mathematical model merges into the mathematical model for having one or more Environmental Factors under same system parameter；Then, design conversion
Environmental model is expressed as general pseudocode form by rule；Finally, design rule of combination combines the pseudocode of environmental model
It into attitude layer, generates monitor and executes verifying, adapt to ring in environmental change by adjusting dynamic input or parameter area
The variation in border；
Wherein, model is defined as the definition of physical environment model, specific as follows:
First defining relevant symbol indicates, the set S={ s of system parameter1,…,si,…,sn, the set E=of environmental parameter
{e1,…,ej,…,em, wherein i, n, j and m are positive integer, set each of element all use a binary group (name,
Type) the title and type of marker element；Here is the related definition to physical environment:
Define 1: environmental model: environmental model generates shadow to s by triple M (s, E', R) one system parameter s of expression and one group
Relationship between loud environmental parameter set E'；Wherein s ∈ S,R={ r1,…,sk,…,slIt is between s and E'
The set of one group of mathematical relationship, wherein k and l is positive integer；
Define 2: relationship: a relationship r ∈ R is defined by a triple (F, VC, L)；Wherein F is the statement part of function, packet
Include function name, the parameter list of function and return Value Types；F specifies the position that system parameter s occurs in whole system code
It sets；VC is a binary group (value (s), C (E')), and wherein C (E') indicates current environmental condition, is patrolling comprising E'
Collect expression formula；Value (s) indicates the value of the system parameter s at condition C (E'), it can be a numerical value, is also possible to one
A calculating formula；L indicates influence rank of the environmental parameter to system parameter with this condition；It is a series of just whole for influencing rank
Number, numerical value is bigger, and to represent influence degree smaller.
2. a kind of mobile robot run time verification method of Environment Oriented modeling according to claim 1, feature exist
In: the model combination rule is that environmental model merges rule, specific as follows:
Assuming that there are two environmental model M1(s1,E1',R1) and M2(s2,E2',R2), if s1=s2, then the two are to the same system
The environmental model that system parameter is established can merge, it is assumed that amalgamation result is M (s, E', R), wherein s=s1；It is specific to merge
Rule is defined as follows；
Precondition: identical system parameter is the precondition that judges two environmental models and whether can merge；
Model computation rule: set M={ m1,m2,...,mmAnd N={ n1,n2,...,nnDo combination operation the result is that f (m,
N), wherein every two element takes " && ", take between obtained result " | | ", i.e. { (m1&&n1)||(m1&&n2)||…||(mm&&
nn)}；Wherein subscript m and n are positive integer；
First model combination rule: also making model internal standardization regular, is a kind of merging rule for relationship；Specially relationship
Make " | | " operation between element in set, " | | " is the "or" in logic；Wherein VC executes " | | " operation, and F and L are constant；Such as
M1Middle R1={ r11,r12…r1n, execute R after this rule1={ r11||r12||…||r1n}={ F1,(VC11||VC12||...||
VC1n),L1, M2Similarly；
Second model combination rule: if E1'=E2', F1！=F2That is function position of the system parameter s in system code is different,
So environmental model is then independent each other, does not need to merge；For standardized writing, M can be write as (s, { E1',E2'},R1∪
R2), it can also remain unchanged；
Third model combination rule: also it is normalisation rule between model；If E1'！=E2' and F1=F2, i.e. the object of system parameter s
It is different to manage influence factor, but the function position in system code is identical；Merging rule is E={ E1',E2', F in relationship R
=F1, VC executes model computation rule, and L takes L1And L2In minimum value, i.e. L=Min { L1,L2}；Under combination condition, system ginseng
The value of number value (s) takes the maximum value of degree affected by environment, i.e. Worst { value1(s),value2(s)}；
When environmental model does not meet the precondition for merging rule, the first model combination rule is executed, itself is standardized
Change operation；Second model combination rule and third model combination rule are the merging rules between model, and wherein whether system parameter
It is being the key that determine whether can merge between environmental model in the same function；When multiple models carry out standardization merging,
It executes two-by-two and merges rule until being unsatisfactory for combined precondition；There are the feelings that a variety of physical factors influence multiple system parameters
When condition, according to the precondition of model combination, it will merge respectively with the mathematical model of same system parameter.
3. according to a kind of mobile robot run time verification method of Environment Oriented modeling described in claim 1, it is characterised in that:
The transformation rules are environmental model transformation rule, specific as follows:
It proposes to convert code for pseudocode as centre first；For any one environmental model M=(s, E', R), relationship R
=(F, (value (s), c (E')), L), transformation rule is divided into the following steps:
(1) respective function is generated according to the information of F in relationship；
(2) it variable declarations: in function, if s is not the local parameter of function, generates a s variable and initializes；
(3) sentence judge according to (value (s), C (E')) formation condition, wherein C (E') is Rule of judgment, value (s) for
The value of s under conditions present；Wherein additional character " | | " represents " elseif " in a program；
(4) union symbol " U " appearance then regenerates a new function, executes (1)-(3) step.
4. according to a kind of mobile robot run time verification method of Environment Oriented modeling described in claim 1, it is characterised in that:
The specific rule of combination of model rule of combination is divided into following steps:
(1) the event definition in all properties specification is traversed, the letter in the function and environmental model code of event point of penetration is selected
Number F is identical and participates in the event calculated containing system parameter s in event action；
(2) select code block: wherein code block is initially sentence of first system parameter s in assignment right side of the equal sign, code
The end mark of block is sentence of the last item system parameter s in assignment right side of the equal sign；
(3) code block is replaced to environmental model as a whole and corresponds to the execution sentence that if condition controls in pseudocode；If there is
When the case where one code block corresponds to multiple model codes, i.e., the system parameter s in multiple model codes appears in the same table
Up in formula, the if condition in all model codes is subjected to the new model code after mathematical combination operation at this time and replaces original code
Block；
(4) s on the right of assignment symbol is replaced into the s's in the corresponding pseudocode of environmental model in identical Rule of judgment execution sentence
New value；
(5) finally formed function code is inserted into current event and replaces code block.
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