A CORBA-based cooperative mobile robot system

Purpose – The purpose of this paper is to present a distributed multiple mobile robot system that provides a collaborative control and simulation environment.Design/methodology/approach – A CORBA‐based cooperative system is designed to implement a robotic layered cooperative mechanism. The mechanism has three layers: mission, transport and execution. In order to realize a flexible and effective communication in the cooperative mechanism, an extended robot event service (federated event service) is proposed to improve the cooperative system's real time performance.Findings – Experimentation has proved the validity and effectiveness of the system. The federated event service's latency is approximately 9 percent less than the standard event service latency when the CPU is determined.Practical implications – The robotic modularized system includes the map‐building, path‐planning, robot task‐planning, simulation and actual robot control function modules, and uses CORBA to integrate the whole system. It is easy...