A model-based graphics interface for controlling a semi-autonomous mobile robot (handicapped aid)

An interactive graphics interface is being developed for task-level control of a mobile robot. Facilities for creating a model of the robot's workspace and for specifying desired robot actions within the workspace have been written in software running on a personal computer. An object-oriented language is used, whereby classes of real-world objects can be represented internally by data structures which are tailored to include pertinent properties. Externally, an object is represented to the user as a graphic form which reflects its underlying properties. Each object has a graphic behavior which allows it to respond to user manipulation via cursor action. A model of a building or room is created by instantiation and manipulation of objects representing typical household items. Further manipulation of objects in the completed model provides the basis for command generation for the robot in the real world. The interface allows the user to quickly set up a structured environment, such as a table-top robotic workstation, or in the course of several sessions to build a model of an entire household or building.<>