面向异构无人驾驶车辆的互操作性研究

Interoperability Research for Heterogeneous Unmanned Ground Vehicles

为满足无人驾驶车辆集群应用场景中异构无人驾驶车辆之间的互操作性需求,对比当前互操作性解决方案,并结合中间件技术,基于自动发现、去中心化、松散耦合、支持一对多通信的原则设计了面向异构无人驾驶车辆的互操作通信系统,在机器人操作系统(ROS)架构与4维实时控制系统(4D/RCS)架构间实现了异构无人驾驶车辆间的通信并通过仿真验证了所提出方法的有效性。

To meet the requirement of interoperability between multiple heterogeneous Unmanned Ground Vehicles(UGV)for UGV cluster application scenarios,an interoperable communication system for heterogeneous UGV by was designed comparing the solution to the interoperability problem of heterogeneous UGV,and combining with middleware technology,which was based on automatic discovery,decentralization,loose coupling,and one-to-many communication ideas.This enabled communication between heterogeneous UGV in Robot Operating System(ROS)architecture and 4D Real-time Control System(4D/RCS)architecture,and the effectiveness of the proposed method was verified with simulation.