Concurrent Programming of Intelligent Robots

Abstract

Real time intelligent robots usually consistof more than one processing unit (pu) to ensure parallel operation of several functions . Each pu in a r obot executes repetitive monitoring and controlling operations as well as information exchange to and from other pu ' s . Since timing of each operation is independent of others,if the robot operating software supports concurrent process facilities, it would be hel pf ul in robot programming . A selfcontained robot "Yamabico 9" has been constructed to be a tool for investigating how a mobile robot understands the outer world . In order to support software production on the robot, Robot Control System (RCS) has been implemented, includin g simple job commands and a supe rvisor call (SVC) system. The concurrent process monitor is a part of RCS and some of SVC's are for these faci lities . The monitor adopts a "message sendin g" method to synchronize execution of two processes and to exchange information between processes and pu's. An example of a concurrent process program, "walk along left walls", is given to demonstrate the describing power of our system.