Design and Implementation of Visual Robot Mission Planning
[摘要] The mission planning system (MPS) has become more prevalent as a high-level reasoning tool in real robotic systems. This paper analyzes the research prospects of MPS and presents the implementation of the core functions of MPS including Socket communication module, client module, server module, program construction method and mission planning module. This paper uses java based socket communication model to achieve two-way communication robot functions, robot task resolution, scheduling and exception handling. This paper also implements a task planner for an instance of shutting down the lights. After the simulation and testing of the system, it reveals that the robots are able to complete the mission and perform task decomposition and scheduling very effectively.
[发布日期] [发布机构] School of Information and Computers, Anhui Agricultural University, Hefei; 230031, China^1
[效力级别] 材料科学 [学科分类]
[关键词] Design and implementations;High-level reasoning;Mission Planning System;Program construction;Simulation and testing;Socket communications;Task decomposition;Two way communications [时效性]
