유한 상태 기계와 병행 흐름도 방식을 활용한 그래픽 기반 로봇 시나리오 스크립트 모델

Abstract

In general, it is possible to program a robot application scenario more easily if the creation of the scenario is divided into the following two steps: (1) create the unit behaviors performed by the robot, and (2) decide the order of the unit behaviors developed in the previous step. This paper proposes a scenario development model consisting of these two steps, where a finite-state machine (FSM) script model and a block function script model are used to create unit behaviors and a concurrent execution flow script model is used to decide the order of the unit behaviors. The proposed models use a graphics-based authoring method. The FSM script model and the block function script model create their unit behaviors in the scenario by reusing various developed software modules. The concurrent execution flow script model creates an operation sequence of unit behaviors that is suitable for the application scenario using the FSM and block function script models. The software modules linked to the FSM and the block function script models are OPRoS, ROS, C/C ++, Java, and Python. The concurrent execution flow script model is stored and used in XML format for portability. Finally, an example is implemented to validate the proposed model.