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A Dual-Loop Control Model and Software Framework for Autonomous Robot Software

机译：自主机器人软件的双回路控制模型和软件框架

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摘要

Autonomous robot software is an extremely complex system that drives robots to operate in an open and dynamic environment to accomplish tasks. This requires such software to be designed with effective control models to support continuous and flexible feedback. To this end, this paper presents a dualloop control model called D-SMPA and corresponding software framework that adopts several design principles to support the development and running of autonomous robot. Our proposed model explicitly abstracts the robot behaviors into observation-oriented and task-oriented types, and provides a dual-loop control to coordinate these behaviors. Control mechanisms in D-SMPA are proposed to support a tight integration and accompanying cooperation between observation and task behaviors so that the task accomplishment can get required feedback of sensors. Our approach aims to enrich the capabilities of autonomous robot software by obtaining on-demand feedback from multiple sources, and at the same time to simplify software development by separating complex behaviors of robots. We present a multi-agent software framework called AutoRobot to implement the proposed control model and provide tools to support the development of autonomous robot software. Our case study validates the effectiveness and applicability of our proposed approach and framework.
机译：自主机器人软件是一个极其复杂的系统，可驱动机器人在开放，动态的环境中运行以完成任务。这就要求此类软件必须设计有有效的控制模型，以支持连续而灵活的反馈。为此，本文提出了一种称为D-SMPA的双环控制模型和相应的软件框架，该模型采用了几种设计原则来支持自主机器人的开发和运行。我们提出的模型将机器人行为明确抽象为面向观察和面向任务的类型，并提供了双环控制来协调这些行为。提出了D-SMPA中的控制机制，以支持观察和任务行为之间的紧密集成和伴随的协作，以便任务完成可以获取所需的传感器反馈。我们的方法旨在通过从多个来源获得按需反馈来丰富自主机器人软件的功能，同时通过分离机器人的复杂行为来简化软件开发。我们提出了一个称为AutoRobot的多代理软件框架，以实现建议的控制模型并提供工具来支持自主机器人软件的开发。我们的案例研究验证了我们提出的方法和框架的有效性和适用性。

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