摘要
论述了移动机器人系统的特点.针对其软件环境的设计目标,提出把软件构件的思想应用在机器人系统中.利用这种技术设计了几个具体的构件,并实现了移动机器人对运动目标的跟踪任务.实验结果表明,基于这种技术开发的机器人软件系统方便地实现了跨平台和多种语言编程;在不降低性能的前提下,简化了软件的复杂度,并且构件的可复用特点使开发周期和成本大大降低,在实际应用中达到了良好的效果.
The characteristics of mobile robot systems are discussed. To realize the design goal of robot software environment, the idea of component-based software approach is applied to the robotic systems. With this technology, several components are designed and the task of tracking moving objects with mobile robots is implemented. The experimental results show that the robot software system based on this technology can realize cross-platform and multi-language programming conveniently, and can reduce the software complexity without performance degradation. The development cycle and cost are decreased using the component reusability, and perfect results are obtained in practice.
出处
《机器人》
EI
CSCD
北大核心
2007年第4期337-341,347,共6页
Robot
基金
中国国家留学基金管理委员会比利时政府互换奖学金资助项目
关键词
移动机器人
分布式控制
构件设计
中间件
mobile robot
distributed control
component-based design
middleware
