移动机器人网络化环境资源应用中的关键技术

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金欣, 马旭东, 戴先中. 移动机器人网络化环境资源应用中的关键技术[J]. 机器人, 2008, 30(1): 70-78.. JIN Xin, MA Xu-dong, DAI Xian-zhong. Key Technologies Enabling Mobile Robot to Utilize Surrounding Networked Resources. ROBOT, 2008, 30(1): 70-78..

摘要受到软硬件发展瓶颈的制约，机器人本体的能力始终有限，难以应对各种复杂的应用和日益增长的需求．而在机器人周围的环境中，分布着各种各样的资源，却无法为之所用．本文分析了该问题的本质，提出了解决问题所需要的一些关键技术，分析和比较了UPnP、Web服务和Jini三种现有技术，并基于它们提出了初步的解决方案．实验证明，利用该方案，即使低配置的机器人也能够方便地利用环境中的资源，完成各种复杂的任务，从而突破了机器人本体的限制，为扩展机器人的能力开辟了一条新的途径．

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	金欣
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关键词 ：移动机器人, 网络化环境资源, UPnP, Web服务, Jini

Abstract：Owing to the bottle-necks of software and hardware,it is always difficult to empower a single robot with various kinds of functions and intelligence to deal with complicated situations and demands.Meanwhile,robots are surrounded by various kinds of equipment and devices,which however,can not be utilized by robot itself as useful resources so far.The reason is analyzed in this paper,with emphasis on some key technologies to solve the problem.Based on analysis and comparison of the current technologies in some related research fields such as UPnP,Web services and Jini,primary resolutions are proposed and tested in order that even a low-cost single robot can utilize such kinds of resources as freely as possible,thus breaking through the restrictions of robot itself and opening up a new way to expand robot capacity.

Key words： mobile robot networked surrounding resource UPnP Web service Jini

收稿日期: 2007-06-21

TP24

作者简介: 金欣（1981- ），男，博士生．研究领域：网络化移动机器人及其应用．
马旭东（1962- ），男，教授．研究领域：网络化移动机器人，分布式控制系统，实时系统软件．
戴先中（1954- ），男，教授，博士生导师．研究领域：神经网络，非线性控制，计算机控制，机器人控制，电力系统控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2008/V30/I1/70

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