The Study On Construction Method And Execution Mechanism Of Robot Control Software Based On RPL

The facts that a robot is the fusions of physics and information and the environment robot faces is becoming more and more open, make that the robot control software has the features which are different from traditional computer software. These features put forward new demands for the programming method and language of robot control software. However, the traditional software development methods and technologies are difficult to meet these demands. How to provide effective programming method or language to support construction and running of autonomous robot control software has become a hot topic of current research.To solve the above problem, this paper attempts to apply Agent-Oriented Programming to the construction of robot control software in open environment. This paper has made a exploration in the robot control software programming based on AOP technology from the aspects of framework, language, running mechanism and platform. The main contributions of this paper are described as follows:The main contributions of this paper are described as follows:1. We propose a rule-based construction framework RECA for the control software of autonomous robot. This framework which takes control software of a robot as a reactive agent consists of three elements:(1) Sensor Event, showing environmental changes;(2) Scenario Behaviour, the different behaviour specifications for robots; and(3) Event Rule, defining the dynamic mapping relations from environmental inputs to behavioral outputs.2. We propose a rule language RPL based on the RECA model. RPL describes the transformational relations between different Scenarios according to the environmental changes. We uses finite state machine(FSM) to model the relationships, which provides support to avoid conflict between robot behavior in a way. RPL provides language level support for dynamic binding with robot behaviours in different Scenarios.3. We designs and implements a programming and runtime environment RPE for the development of robot control software based on RPL. RPE consists of several parts such as Sensor Event Template, Scenario Behaviour Template, and RPL compiler to support the development of robot control software, such as Sensor Event Manager, Scenario Manager, and Robot Agent to support the running of robot control software. RPE simplifies the development process of robot applications based on RECA framework.