MOOS-IvP理论概述及应用简析

Brief Analysis of MOOS-IvPtheory and Application

为了帮助读者对MOOS-IvP进行初步学习,此文从MOOS-IvP的设计理念、架构模型、主要功能等方面进行了介绍。MOOS-IvP是一个新型的、开源的、基于行为的无人航行器的自动化控制程序,介绍内容包括:MOOS-IvP的设计理论及使用的方法,包括基础设计模型中用到的发布-订阅模型、后座驾驶员模型、基于行为的自主性设计,代码的重用性,模块化设计,信息交流方式;MOOSDB的主要功能、配置属性及运作方式;IvP Helm部分介绍其结构特点、功能属性及实现方法。使读者最终对MOOS-IvP形成一个全面系统的认识。

MOOS--IvP is a new,open source,behavior based automation control program for an unmanned vehicle. This passage introduced some aspects of MOOS-IvP from design concept, architecture model,mainly functions and so on, for helping users to understand the software and use it.The main description of the passage contained the MOOS-IvP design--modules,the MOOSDB and the lvP helm.MOOS--lvP design--modules includesthe publish--subscribe middicwarc design philosophy,the backseat driver design philosophy, thebehavior--based control design philosophy, the code re--use,modules design philosophy, the methods of message transmit.The MOOSDB comprisedthc main functions,the configuration properties and the operation mode. ThclvP Helm introduced the structure characteristics, the functional properties andthercalization method.Which will help users to build a comprehensive and systematic concept of MOOS--IvP.