中文摘要：

在慎思/反应混合控制架构下开展定性推理与定量计算相结合的分层规划是机器人任务规划研究的一条可行途径。针对分层任务规划中存在的软件工具实现方面的问题，提出C＋＋与人工智能语言Prolog相结合的解决方案。围绕服务机器人作业研究中的一个典型案例，开发了C＋＋与Prolog双向加载的接口程序，开展了Prolog加载C＋＋程序以及C＋＋加载Prolog程序的实验研究，分别取得了单向数据传输和双向数据传输的实验结果，实现了机器人分层任务规划的完整流程。研究方法具有一般性，可在不同工程应用、不同Prolog开发环境中扩展应用，特别适用于将C＋＋作为平台、Prolog作为知识库与推理机子系统的软件系统中。

英文摘要：

Hierarchical planning by combining qualitative reasoning and quantitative calculation in the hybrid deliberative/reactive control architecture is a feasible method of robot task planning. Regarding to its matter of software tool implementation, the scheme of C＋＋ and Prolog integration was proposed as a solution. Specifically, with respect to a typical case in service robot operation study, the authors developed bidirectional interface between C＋＋ and Prolog and conducted experiments to examine both “Prolog loading C＋＋ programs” and “C＋＋ loading Prolog programs”. They got the results of, respectively, unidirectional data transfer and bidirectional data transfer between the two kinds of software and realized the complete process of hierarchical robot task planning. The research method of the work is extendable to different engineering applications and different Prolog development environments, with particular applicability to software systems adopting C＋＋ as infrastructure and Prolog as program knowledge base and inference engine.