Synthesis of control units for mobile robots

To design a control unit for a mobile robot, the finite state machine (FSM) describing the behavior of such a robot should be constructed. As a rule, it is difficult to construct an optimal FSM to represent a complex behavior of the mobile robot containing several subbehaviors. We present the formal method for synthesis a control for mobile robots, including the following procedures: representation of each subbehavior as an algorithmic state machine (ASM), combining several private ASMs into one aggregated ASM, constructing a finite state machine, implementing aggregated ASM, and synthesis of FSM's logic circuit.