开放式机器人控制器软件体系结构研究进展

Research Advamce of the Software Architecture of Open Robot Controllers

开放性已经成为现代机器人控制器的实现目标之一。NGC (NextGenerationController)虽是第一个遵循开放系统体系结构标准 (SOSAS)的机器人控制器 ,但未解决动态与非结构化环境中的实时响应问题。混合体系结构的机器人控制器LAAS虽具有一定的可扩展性 ,但没有深入考虑不同组件 /模块间的通讯问题。NEXUS和ORC(OpenRobotController)是正式提出开放概念的分层结构控制器 ,具有了开放式系统的管理和通讯机制 ,并提供了不同的操作接口。但其在开放式控制器的功能实现和系统建模方面仍有不足 ,所以未来的研究将集中于这两个方面。

Openness has already become one of the goals that modern robot controllers want to realize. Although the next generation controller (NGC) is the first one which has been designed according to the open system architecture standard, the problem of real-time response has not been solved. Another controller LAAS with hybrid architecture is extensible to some degree, but the communication among different components or modules has not been considered deeply. The conception of openness has been presented in NEXUS and ORC (Open Robot Controller). And the managing and communicating mechanisms have been realized in them. At the same time different operating interfaces have also been given. While in terms of the openness conception, the open functions have not been achieved perfectly. There are still shortcomings existing in the system modeling. So the future research will be focused on the above two aspects.