RESEARCH ON MULTIROBOT-ORIENTED APPLICATION INTER-OPERATION SYSTEM BASED ON CORBA COMMUNICATIONS

This paper presents a system integration model based on CORBA and Frame Reques Broker (FRB) in accordance with heterogeneous distributed Multirobot system. An effective approach is provided for implementing the communication, cooperation、programming of heterogeneous distributed Multirobot and supporting system task regroup and reconfiguration、application inter-operation. The method and mechanism are put forward to support object inter-operation towards Multirobot using CORBA communications. A CORBA-based API and extended IDL (X-IDL) are presented. Through the construction and implementation of robot basic object classes, a Multirobot inter-operation and open distributed processing prototype system is developed.