The MDLe Engine -- A Software Tool for Hybrid Motion Control

摘要

One of the important but often overlooked practical challenges in motion control for robotics and other autonomous machines has to do with the implementation of theoretical tools into software that will allow the system to interact eectively with the physical world. More often than not motion control programs are machine-specic and not reusable, even when the underlying algorithm does not require any changes. The work on Motion Description Languages (MDL) has been an eort to formalize a general-purpose robot programming language that allows one to incorporate both switching logic and dierential equations. Extended MDL (MDLe) is a device-independent programming language for hybrid motion control, accommodating hybrid controllers, multi-robot interactions and robot-to-robot communications. The purpose of this paper is to describe the \\MDLe engine", a software tool that implements the MDLe language. We have designed a basic compiler/software foundation for writing MDLe code. We provide a brief description of the MDLe syntax, implementation architecture, and functionality. Sample programs are presented together with the results of their execution on a set of physical and simulated mobile robots. 1