Abstract
The abilities to predict and analyze timing are key requirements for many real-time software
such as the software for an Autonomous Mobile Robot (AMR) system. A self-contained AMR
system requires on-board computation and the system is typically constrained by limited
processing power and memories. However, the software needs to fulfill its timing and
application requirements, despite the constraints. Thus, the capability of real-time theories to
predict the AMR performance against the timing requirements is very significant. The aims of
this paper are to proposed and demonstrate a detail approach to enable predictable of AMR realtime performance in the design phase of componentbased software development. This high level
prediction can avoid timing error in the field and costly late rework at the implementation
phases. An experiment was designed, to demonstrate the approach and to validate the predicted
results against the real performance of the AMR software.