이심이100 AUV를 위한 간결한 임무 언어의 개발

Abstract

This paper presents a mission language, is called Tiny Mission Language (TML), for the ISiMI100 Autonomous Underwater Vehicle (AUV) which was developed by MOERI-KORDI. The TML can represent any mission easily and freely because it provides most functionality supported by general programming language. The TML provides control statements for management of execution sequence, variable usage for temporary data and special instructions for behavior management. It also provides function call instructions with parameters for source modulation and directive statements for environment description. Though it supports much functionality, the TML is very concise language. The TML includes only essential instructions for mission control and its grammar is similar to assembly language. The execution speed of the TML is fast against other mission language with interpreter type because the TML mission file is converted to executable image and it runs on the TML virtual machine. The contents of executable image are predefined binary code. The executable image is loaded into the program memory in the virtual machine, which decodes and executes instructions in the program memory sequentially. The result of the TML execution mostly affects behavior activities, so the ISiMI100 AUV runs in order to accomplish the goal of mission.