IMPLEMENTATION OF ROBOTICS UNIFIED CONTROL LANGUAGE (R-UCL) RUNTIME ENGINE USING MICROSOFT ROBOTICS DEVELOPER STUDIO (MRDS)

Recent Microsoft developments in robotics have enriched the robotics world with plenty of tools. In a previous paper by the authors, a Robotics Unified Control Language (R-UCL), together with the underneath engine, is proposed. In this paper we use Microsoft Robotics Developer Studio (MRDS) to implement the Proposed Runtime engine. This engine is basically designed to be the supporting runtime for R-UCL. We use the Mars Rover Mission provided by RoboChamps (International competition in robotics) to prove the purpose of the proposed control engine design. The Mars Rover Mission is a simulated environment in which the Rover Robot is supposed to find predefined locations and collect sample data for analysis. Such operations are carried out in unstable and bumpy terrain and locations should be inspected in sequence. Two implementations are provided; one is straight forward without using the control engine, the other will be limited by following the proposed control engine design specifications. By testing the two methodologies our control engine does prove productivity and flexibility and by time it shows self-correctness for some initial values, and also algorithms selection improvement.