一种新的基于SOA的多机器人协作分层体系结构

A New Layered Multi-robot Cooperative Architecture Based on SOA

为了研究高效、通用和松耦合的多机器人协作体系结构,提出一种基于SOA(面向服务的架构)的分层体系结构.在分层结构的基础上,以服务为组成元素,设计规范的多机器人SOA协议与接口,在协作中实现对机器人下层功能组件的透明封装和上层服务的灵活调用,可以有效避免异构对协作的影响,有利于系统的构建、扩展、重组和维护.实验结果验证了技术的可行性和实用性.

To study an efficient,generic and loosely coupled multi-robot cooperative architecture,a layered architecture based on SOA（service oriented architecture） is proposed.On the base of the layered architecture,service is considered as the constituent elements,and normalized multi-robot SOA packages and interfaces are designed.The lower functional components are encapsulated transparently and the upper service is invoked flexibly in cooperation.The impact of the difference among the heterogeneous robots on cooperation is effectively avoided,which is beneficial to the system construction, expansion,restructuring and maintenance.Experimental results demonstrate the technical feasibility and practicality.