关键词: 跨平台, 自适应软件, 规则模型

Abstract: Mobile robot applications often need to self-adaptively deal with the uncertainties in the environments. However, the development of self-adaptive application software for mobile robots is difficult, especially when the application needs to work on different hardware/software platforms. This paper proposes a software framework for self-adaptive robot application systems. The framework reduces the difficulty of the development of adaptive systems, through masking the differences of platforms in hardware and software, and separating adaptive logic from business logic with a rule-based approach. This paper also implements a visualized editor to facilitate the preparation and inspection of rules. The editor can generate model diagrams and automatically check for syntax errors and some logic errors. Finally, this paper evaluates the benefits of the framework with experiments.

Key words: cross-framework, self-adaptive software, rule model