图形化PDDL语言编译系统的设计与应用  

Design and implementation of graphical PDDL language compilation system

作　　者：张忠坤 林泓宇 谭智元 邢明杰 武延军 ZHANG Zhong-kun;LIN Hong-yu;TAN Zhi-yuan;XING Ming-jie;WU Yan-jun(School of Artificial Intelligence and Information Technology,Nanjing University of Chinese Medicine,Nanjing 210023,China;Intelligent Software Research Center,Nanjing Institute of Software Technology,Nanjing 210000,China;Intelligent Software Research Center,Institute of Software,Chinese Academy of Sciences,Beijing 100190,China;School of Computer Science and Technology,University of Chinese Academy of Sciences,Beijing 100190,China)

机构地区：[1]南京中医药大学人工智能与信息技术学院,江苏南京210023 [2]中科南京软件技术研究院智能软件研究中心,江苏南京210000 [3]中国科学院软件研究所智能软件研究中心,北京100190 [4]中国科学院大学计算机科学与技术学院,北京100190

出　　处：《计算机工程与设计》2024年第2期626-632,共7页Computer Engineering and Design

基　　金：中国科学院战略性先导科技专项基金项目(XDA0320000)。

摘　　要：针对当前PDDL开发存在的编辑复杂和文本可读性差等问题,设计一个图形化PDDL在线编辑工具和相应的编译系统Graph Compiler。Graph Compiler结合领域专用编译技术和ChatGPT模型,实现从自然语言到图形化PDDL的自动化生成。系统支持编译不同版本的PDDL语言,提供相应版本的语法分析,将PDDL规划结果转换为ROS的话题消息,为机器人行动提供具体的动作指令。实验结果表明,Graph Compiler在多届IPC的多版本PDDL测试用例上,编译成功率达到100%;也可以应用在ROS项目中,通过具体的动作序列指导机器人行动。To address the current issues in PDDL development,such as complex editing and poor text readability,a graphical PDDL online editing tool and the corresponding compilation system,Graph Compiler,were designed.The automated generation of graphical PDDL from natural language was achieved using the Graph Compiler,in which domain-specific compilation techniques and the ChatGPT model were combined.The compilation of different versions of the PDDL language was supported by the system,syntax analysis was provided for the respective versions.The system converted PDDL planning results into ROS topic messages to deliver specific action instructions for robot actions.Experimental results show that Graph Compiler achieves a 100%success rate on multi-version PDDL test cases from multiple IPCs,and it can also be applied in ROS projects to guide robot actions through specific action sequences.

关 键 词：规划领域定义语言 编译系统 领域专用编译技术 自然语言 自动化生成 语法分析 机器人操作系统 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论]