Abstract
In this paper programming tools for developing a sensor based behavior of a mobile robot are discussed.
A method to describe a program is important base for designing programming tools. The authors have introduced an action mode representation for analyzing a mobile robot's behavior and a programming language ROBOL/0 to describe programs.
The authors designed the programming tools based on the action mode representation and ROBOL/0, which is considered with (1) Action mode representation converter, (2) Simulator, (3) Action mode transition monitor, and (4) Action mode transition tracer.
These tools have been implemented on UNIX workstation and used for programming of authours' mobile robot. And, it was verified that they are useful as a programming environment of autonomous behavior.
