An object orient program specification for a mobile robot motion control language
Grim, Carl Joseph
Zyda, Michael J.
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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 an abstract, efficient and compartmentalized architecture to employ a path tracking and motion control 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.
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