C++与Prolog双向数据交换实现混合控制架构下机器人任务规划  

Bidirectional data exchange between C + + and Prolog for robot task planning in hybrid control architecture

作　　者：武桂鑫 许烁[1,2] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]上海市智能制造及机器人重点实验室(上海大学),上海200072

出　　处：《计算机应用》2015年第A01期203-205,225,共4页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61203351);上海高校青年教师培养资助计划项目(B.37-0109-12-004)

摘　　要：在慎思/反应混合控制架构下开展定性推理与定量计算相结合的分层规划是机器人任务规划研究的一条可行途径。针对分层任务规划中存在的软件工具实现方面的问题,提出C++与人工智能语言Prolog相结合的解决方案。围绕服务机器人作业研究中的一个典型案例,开发了C++与Prolog双向加载的接口程序,开展了Prolog加载C++程序以及C++加载Prolog程序的实验研究,分别取得了单向数据传输和双向数据传输的实验结果,实现了机器人分层任务规划的完整流程。研究方法具有一般性,可在不同工程应用、不同Prolog开发环境中扩展应用,特别适用于将C++作为平台、Prolog作为知识库与推理机子系统的软件系统中。Hierarchical planning by combining qualitative reasoning and quantitative calculation in the hybrid deliberative/reactive control architecture is a feasible method of robot task planning. Regarding to its matter of software tool implementation, the scheme of C＋＋ and Prolog integration was proposed as a solution. Specifically, with respect to a typical case in service robot operation study, the authors developed bidirectional interface between C＋＋ and Prolog and conducted experiments to examine both “Prolog loading C＋＋ programs” and “C＋＋ loading Prolog programs”. They got the results of, respectively, unidirectional data transfer and bidirectional data transfer between the two kinds of software and realized the complete process of hierarchical robot task planning. The research method of the work is extendable to different engineering applications and different Prolog development environments, with particular applicability to software systems adopting C＋＋ as infrastructure and Prolog as program knowledge base and inference engine.

关 键 词：C/C++ PROLOG 混合编程 数据交换 机器人任务规划 慎思/反应混合控制架构 

分 类 号：TP387[自动化与计算机技术—计算机系统结构]