应用模型驱动技术的自主移动机器人软件系统架构的研究

自主移动机器人体系结构主要研究如何把感知、决策和行为等功能组件逻辑合理地组合起来，在复杂环境下通过自主推理、规划和控制完成目标任务的宏观设计方案。然而从软件架构角度来看，机器人体系结构仅涉及到架构模式范畴。软件架构不仅包括架构模式，还包括架构风格和架构本身的研究。架构模式是为了解决一类问题或实现一类任务而设计的宏观方案。相对于架构模式，架构风格在微观上定义了架构内部组成元素的设计规则。架构设计重点是为架构建模，首先选择所需的架构模式和架构风格，然后基于选定的架构模式和架构风格使用架构描述语言对架构进行形式化表达。项目引入软件架构的最新研究成果，基于模型驱动工程，研究和设计自主移动机器人的整套架构，研究内容包括：1）提出新型智能混合架构模式；2）定义自主移动机器人的架构风格；3）定义自主移动机器人领域元模型；4）基于元模型生成机器人模型驱动架构描述语言；5）设计并实现基于模型驱动的开发环境。

From the perspective view of robotics, an Autonomous Mobile Robot(AMR) architecture defines a general design solution of how to organize the functional modules of perception, decision-making and behavior in a logical and reasonable way to achieve an objective task in a complex environment by self-reasoning, planning and controlling. However, from the perspective of software architecture, the above AMR architecture only covers the scope of architectural patterns. Software architecture does not only concern the study of architectural pattern, but also involves the study of architectural style and architecture itself. An architectural pattern is a general solution to a commonly occurring problem or a task. In contrast with an architectural pattern that focuses on overall, an architectural style defines architectural design principles targeting the compositional elements of architectures. The essence of architectural design is architecture modeling, which begins by choosing appropriate architectural pattern and style, and then based on the chosen pattern and style, using architecture description languages to formally describe and model software architectures. By introducing the latest study results of software architectures, our project plans to study and design a complete architecture solution for AMR, which includes: 1) proposing a new mixed intelligent architectural pattern; 2) defining a generic architectural style for AMR; 3) defining a domain metamodel of AMR; 4) based on the metamodel creating an AMR Domain Specific Architecture Description Language(DS-ADL); 5) developing a model driven integrated development environment.