Estimation of time intervals during mobile robot digital control

The analysis of a standard flowchart for a mobile robot digital control is performed. It is shown that the controller is a unit which introduces time disturbances in the process of control. A typical control algorithm and its model based on the semi-Markov process theory are worked out. The dependencies for evaluation of walk time through the states of an ergodic semi-Markov process are obtained. The reducibility of the semi-Markov process into the Markov process with a continual time is shown. The theoretical results are confirmed by simulation with use of the Monte-Carlo method.