Robot universal open control system facing object
An object-oriented and robotic technology, applied in the fields of robot and computer interface, computer engineering, and robotics, can solve problems such as wasting research energy, affecting the research and development of robotics, and lack of generality of the architecture, achieving high practical value and practical significance. Robust programming model, the effect of improving development efficiency
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[0025] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0026] The general robot control system of the present invention consists of figure 1As shown, it includes three control layers of action, behavior and task, perception space module, sensor module and sensory information interpreter. The action layer is the lowest layer of robot control, which is composed of state and action. The action accepts the set value given by the state and drives the corresponding robot actuator. Behavior layer is the middle layer of robot control, which is composed of behavior, behavior map and behavior decision maker. Behavior reads perceptual information in perceptual space and makes decisions about desired states. Several behaviors are combined in a certain way into a behavior graph. The behavior decision maker reads the expected state of all behaviors according to the combination relationship d...
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