Autonomous Robot Software Control Model And Development Framework

Autonomous robot is a kind of complex robot which runs in open environment.Au-tonomous robot needs continuous interaction with the environment and autonomous be-havioral execution without human's guidance.And software is the core of autonomous robot.Autonomous robot software facts two challenges in software running and develop-ment.The first challenge is what is the core theory and mechanism of autonomous and rational behaviors for autonomous robot which is running in uncertain environment.The second challenge is what software development architecture and technology can support these theory and mechanism.To address these issues,these paper carries out research work in three aspects and contributes a lotFirstly,based on accompanying behaviour,this paper proposes D-SMPA dual loop control model for autonomous robot software.This control model has the characteristics of dual control loops and multi-source feedback,and realizes the interactive requirements between different behaviors of autonomous robot by providing mechanisms.This control model improves the perception ability of autonomous robot software for environment and change,and provides effective support for robot task planning and behavior adjustment In addition,a software implementation model based on multi-agent system is designed for the dual loop control modelSecondly,in order to support the engineering development of autonomous robot software based on the above software implementation model,this paper develops an au-tonomous robot software development framework for AutoRobot.The development frame-work provides templates for different types of Agents,encapsulates a series of different agent behaviors and provides a variety of agent interaction methods,which can effectively support the implementation of dual loop control model.At the same time,this paper also provides the autonomous robot software development support tools for this framework to help developers simplify the development process of autonomous robot softwareFinally,based on the autonomous robot software development framework and the dual loop control model,this paper designs and implements the autonomous robot soft-ware for the three scenarios of the elderly care application.The validity of the dual loop control model and the feasibility of autonomous robot software development framework are verified by the software.