An erlang framework for autonomous mobile robots
An erlang framework for autonomous mobile robots
复制标题
用于自主移动机器人的 Erlang 框架
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
C. Santoro
中科院分区：
文献类型：
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作者：
C. Santoro
本文提出了一种基于Erlang的框架，作者开发的，实现自主移动的机器人的软件系统。
在分析这种机器人的设计和实现中出现的主要问题的基础上，导出了一个软件基础设施，该软件基础设施组织在一组层中，每个层由一些模块组成。这种分层架构用于将硬件接口问题与控制回路和高级策略任务分开;这样的组织还允许开发人员仅专注于要处理的特定问题，并立即识别要实现特定功能所涉及的模块或层。拟议的结构还有利于重用和快速重构，因为更换一件硬件或改变一项功能只需要对一个特定模块进行很少的更改，而其余系统则保持不变。
本文描述了整个软件体系结构，以及组成它的各个模块的功能;该框架所介绍的优点也被突出，而一些例子和案例研究被用来显示其有效性。
This paper presents an Erlang-based framework, developed by the authors, for the realisation of software systems for autonomous mobile robots.
On the basis of the analysis of the main problems arising in the design and implementation of such a kind of robots, a software infrastructure has been derived, organised in a set of layers, each one composed by some modules. This layered architecture is employed to separate hardware interfacing problems from control loops and high-level strategy tasks; such an organisation allows also a developer to concentrate only on the specific problem to be dealt with, and to immediately identify the module or layer to be involved for the realisation of a specific functionality. The proposed structure also favours reuse and rapid refactoring, since the replacement of a piece of hardware or a change in a functionality requires only few changes on a specific module, leaving the remaining system untouched.
The overall software architecture is described in the paper, as well as the functionality of the various modules composing it; the advantages introduced by the framework are also highlighted, while some examples and a case study are used to show its effectiveness.