Verification of Robot Controller for Evaluating Impacts of Faults in Electro-Mechanical Systems

Abstract

Functional verification is a modern approach to verifying that a digital system complies with its specification. The verification environment for functional verification of robot controller which searches path for the robot through a maze is presented in this paper. This verification environment is designed according to UVM (Universal Verification Methodology) principles. As an interesting feature of the verification environment we see the use of a mechanical part (robot in a maze) simulation. The article describes the use of the verification environment for evaluating impacts of faults in electro-mechanical systems. It will serve as a tool for automating the fault tolerance evaluation of electro-mechanical systems and together with the fault injector will form the basis of the verification platform in the future. The experimental results gained from the verification process are also presented in the paper.