基于构件的移动机器人软件系统开发

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刘国成, 王永骥, 徐建省. 基于构件的移动机器人软件系统开发[J]. 机器人, 2007, 29(4): 337-341,347.. LIU Guo-cheng, WANG Yong-ji, XU Jian-sheng. Development of a Component-based Mobile Robot Software System. ROBOT, 2007, 29(4): 337-341,347..

摘要论述了移动机器人系统的特点．针对其软件环境的设计目标，提出把软件构件的思想应用在机器人系统中．利用这种技术设计了几个具体的构件，并实现了移动机器人对运动目标的跟踪任务．实验结果表明，基于这种技术开发的机器人软件系统方便地实现了跨平台和多种语言编程；在不降低性能的前提下，简化了软件的复杂度，并且构件的可复用特点使开发周期和成本大大降低，在实际应用中达到了良好的效果．

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	刘国成
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关键词 ：移动机器人, 分布式控制, 构件设计, 中间件

Abstract：The characteristics of mobile robot systems are discussed.To realize the design goal of robot software environment,the idea of component-based software approach is applied to the robotic systems.With this technology,several components are designed and the task of tracking moving objects with mobile robots is implemented.The experimental results show that the robot software system based on this technology can realize cross-platform and multi-language programming conveniently,and can reduce the software complexity without performance degradation.The development cycle and cost are decreased using the component reusability,and perfect results are obtained in practice.

Key words： mobile robot distributed control component-based design middleware

收稿日期: 2006-09-14

TP24

基金资助:中国国家留学基金管理委员会比利时政府互换奖学金资助项目

作者简介: 刘国成（1972- ），男，博士生．研究领域：移动机器人，机器视觉．
王永骥（1955- ），男，博士，教授，博士生导师．研究领域：神经网络控制，自适应控制，机器人智能控制技术．
徐建省（1975- ），男，博士生．研究领域：鲁棒与最优控制，智能控制，自适应控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2007/V29/I4/337

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