面向任务的机器人语言的实现

本文提出的面向任务的机器人语言是为移动机器人提供的一种编程工具。利用环境描述语言和其他灵活的人机对话方式建立环境模型;根据各种不同的性能指标,规划出最佳路径;根据安全等因素自动规划出最佳路径上的行走参数;对来自传感器的信息进行处理,以确定机器人实际位置及障碍情况;引导机器人沿规划好的路径行走,纠正偏差或重新选择避障路径。

The language proposed here provides a high level programming tool for mobile robots. Its functionsare: building an environment model by using a description language and some flexible man-machineinteraction: planning the optimum path based on various performance; planning the navigationparameters on planned path by taking account of safety, etc. Processing the information from disparatesensors so as to locate the robot, yield the obstacle distribution, make the robot navigate along the plannedpath, and revise the variation from the planned path or even seek a new path.

‘863’计划智能机器人专题基金