In this paper, we present a mathematical analysis program for
Mobile Robot consisting of seven ECUS (Electronic Control Units),
which exchange about (23) messages among them.
The mathematical model calculates the response times (delays
times) for
all messages, and then use these results as input
parameters for the proposed methodology (STS)(Sampling Timing
Scheduling), that allows the calculation of sampling times in a
manner that achieves the best efficiency and reliability of the
system. As well as ensuring whether there is a match between
the deadlines of the messages and worst-case response
scenarios in the real times.
