An Object-Oriented Program Specification For a Mobile Robot Motion Control Language
Carl Joseph Grim · Defense Technical Information Center (DTIC) · 1993
The Yamabico Research Group at the Naval Postgraduate School is actively pursuing improvements in design and implementation of applications for it's family of autonomous mobile robots. This paper describes a new high level language for controlling the Yamabico-11, surnamed OOPS-MML (Object-Oriented Program Specification for a Mobile robot Motion control Language). Conceptual goals included a user friendly, high level interface coupled with a very abstract, efficient and compartmentalized architecture to employ a path planning and tracking application developed at NPS. The result is a robust and flexible robot control system that is intended to be implemented and employed onboard the Yamabico-11.... MML, OOPS-MML