DocumentCode
3231465
Title
Locomotion functions in the mobile robot language, MML
Author
Kanayama, Yutaka ; Onishi, Masanori
Author_Institution
Dept. of Comput. Sci., US Naval Postgrad. Sch., Monterey, CA, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
1110
Abstract
A few fundamental concepts useful for building a high-level mobile robot language are discussed. The method of describing a vehicle path by a sequence of configurations, the use of coordination transformation (or composition of configurations), and the concept of symmetric configurations are examined, with programming examples and the resultant paths. These concepts are robot independent and can be applied to the kernel of any high-level mobile robot language in the future. These functions have already been successfully implemented in the Model-based Mobile Robot Language (MML)
Keywords
high level languages; mobile robots; robot programming; MML; Model-based Mobile Robot Language; configuration compositions; coordination transformation; high level language; locomotion functions; path description; robot programming; symmetric configurations; Command languages; Computer science; High level languages; Mobile robots; Motion control; Path planning; Robot kinematics; Software libraries; Spirals; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131742
Filename
131742
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