Model based multi-level prototyping

In this paper, we present our approach to rapid prototyping of robot software. We propose model based multi-level prototyping using UML in combination with a refinement design flow to synchronize development of an early virtual prototype, detailed simulation models and the final real prototype. This is achieved by a core model which is the common reference for model based multi-level prototyping. We demonstrate our methodology at hand of the design of a motor control software for the RoboCup robot platform of GMD. We show that parameters obtained with the virtual prototype and tested in the simulation model are well suited estimations for the final real prototype and therefore allow to reduce time-consuming experiments with the real prototype to a minimum.