多CPU探测机器人分布式体系结构研究

Study on Distributed Architecture of Multi-CPU Exploration Robot

星球探测机器人是一个带有部分自主行为的自主智能机器人系统,它的体系结构不仅决定了系统完成任务的能力、系统对环境事件的反应能力,而且还决定了系统的健壮性.星球探测机器人的容错网络结构是系统设计的核心,文章提出了一个高可靠的分布式计算系统架构,并对架构的容错网络通信技术进行了分析.

Planetary exploration robot is an independent intelligent robot system that can partly control by itself. Its architecture decides not only the abilities of accomplishing missions and responding to environment events, but also the robusticity of this system. The robot＇s net structure tolerating faults is the core of the system designing. This paper gives a highly reliable distributed computing architecture, and analyzes deeply the net structure tolerating faults of this architecture.