Design and Implementation of Distributed Controller and its Operating System for Autonomous Mobile Robot Platform
Design and Implementation of Distributed Controller and its Operating System for Autonomous Mobile Robot Platform
复制标题
自主移动机器人平台分布式控制器及其操作系统的设计与实现
DOI：
10.1007/978-1-4471-1273-0_50
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
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作者：
T. Miyai;S. Yuta
在机器人研究中，真实机器人的实验非常重要。实验机器人平台用于测试新方法，因此新功能必须轻松集成到现有机器人系统中。在本文中，我们介绍了我们的实验机器人平台“Yamaboco”的控制器架构，该平台旨在分布式和增量开发。控制器采用模块化设计，分为两级。较高层由一个主模块组成，专门对机器人运动进行决策。下层由许多功能模块组成，这些功能模块与其他模块之间有明确的通信规则。并对所实现的系统进行了介绍。每个模块都有一个晶片机作为主处理器，用于将模块与晶片机的快速串行链路连接起来。每个模块上加载专门的操作系统来实现模块之间的通信。它实现了运行在相同或不同模块中的进程之间的异步消息传递。通过使用该控制器，“Yamabico”非常适合用于真实机器人的实验。我们认为控制器的设计理念对于通用实验机器人平台是有用且有效的。
Experiments with real robots are very important in robotics researches. The experimental robot platform is used to test new methods, so new functions must easily be integrated into existent robot system. In this paper, we introduce a controller archtecture of our experimental robot platform “Yamaboco”, which aims at distributed and incremental developmant. The controller is modularized and devided into two hierarchical levels. The higher level consists of one master module which makes desicion of robot motions exclusively. The lower level consists of many function modules which have definite rules of communication with other modules. And the implemented system is also introduced. Each module has a transputer as a main processor to connect modules with transputer’s fast sirial links. A special operationg system is loaded on each module to realize communications between modules. It realizes asynchronous message passings between processes running in same or different modules. By using this controller, “Yamabico” is very good use for experiments with real robots. We think the design concept of the controller is useful and effective for general experimental robot platforms.