Smart Resource Integration for Robot Navigation on a Control Kerned Middleware Based System
Smart Resource Integration for Robot Navigation on a Control Kerned Middleware Based System
复制标题
基于控制核心中间件的系统上机器人导航的智能资源集成
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
J. F. B. Noguera
中科院分区：
文献类型：
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作者：
Eduardo Munera;Manuel Muñoz Alcobendas;José;J. L. P. Yagüe;José;J. F. B. Noguera
本文介绍了如何移动的机器人可以执行导航任务的控制内核中间件（CKM）的基础上实现的系统，以及如何可以利用这一点。智能资源也被包括在系统的拓扑结构中，从而改善系统任务所需的计算负载的处理和分配。CKM和智能资源都是高度可重构的，即使在执行时间上，它们也实现了故障检测机制和服务质量（QoS）策略。通过结合这些功能，系统可以动态地适应其任务的要求。此外，该解决方案被设计为几乎所有类型的机器人都可以实现。负载的分布使得该系统甚至适用于具有低计算能力的那些配置。所有这些优点都通过利用智能资源能力和系统的动态性能来改善。
This paper introduces how mobile robots can perform navigation tasks by implementing a system based on the control kernel middleware (CKM), and how can take benefit of this. Smart resources are also included into the topology of the system, improving the processing and distribution of the computational load required by the system tasks. The CKM and the smart resources are both highly reconfigurable, even on execution time, and they also implement fault detection mechanisms and Quality of Service (QoS) policies. By combining of these capabilities, the system can be dynamically adapted to the requirements of its tasks. Furthermore, this solution is designed to be implemented by almost every type of robot. The distribution of load make this system suitable even for those configurations which are provided with a low computational power. All these benefits are improved by exploiting the smart resources capabilities, and the dynamic performance of the system.