A component based design framework for robot software architecture

Componentization is an important method to improve the reusability of robot software and reduce the difficulty of system design. In this paper, we propose a component based design framework for robot software architecture. First, the robot system is functionally decomposed into reusable components. On this basis, the static model and run-time model of component are established, and a component interface definition language based on the model is designed. Second, a lightweight middleware is proposed according to the communication mode between robot components, and a component development tool and a visual component assembly environment based on the middleware are designed to facilitate the developers. Finally, an application based on the framework is introduced to verify the validation of the design framework.

[1]  Takashi Suehiro,et al.  RT-middleware: distributed component middleware for RT (robot technology) , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  James S. Albus,et al.  NASA/NBS Standard Reference Model for Telerobot Control System Architecture (NASREM) , 1989 .

[3]  Ronald Lumia,et al.  NASA/NBS (National Aeronautics and Space Administration/National Bureau of Standards) standard reference model for telerobot control system architecture (NASREM) , 1989 .

[4]  M. Mizukawa.  Robot technology (RT) trend and standardization , 2005, IEEE Workshop on Advanced Robotics and its Social Impacts, 2005..

[5]  Herman Bruyninckx,et al.  Open robot control software: the OROCOS project , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[6]  Hans Utz,et al.  Miro - middleware for mobile robot applications , 2002, IEEE Trans. Robotics Autom..

[7]  Javier Gonzalez,et al.  The NEXUS open system for integrating robotic software , 1999 .

[8]  Hong-Seong Park,et al.  Middleware architecture for module-based robot , 2006, 2006 SICE-ICASE International Joint Conference.

[9]  William D. Smart,et al.  Middleware for Robots , 2002 .

[10]  James S. Albus.  A theory of intelligent machine systems , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[11]  Jared Jackson.  Microsoft robotics studio: A technical introduction , 2007, IEEE Robotics & Automation Magazine.

[12]  Nobuyuki Otera,et al.  ORiN: open robot interface for the network - the standard and unified network interface for industrial robot applications , 2002, Proceedings of the 41st SICE Annual Conference. SICE 2002..

[13]  日本ロボット学会.  Proceedings IEEE/RSJ International Workshop on Intelligent Robots and Systems '89 (IROS'89) : the autonomous mobile robots and its applications : Tsukuba Center for Institutes, Tsukuba, Japan, Sept. 4-6, 1989 , 1989 .

[14]  James S. Albus,et al.  Open architecture controllers , 1997 .

[15]  Daniel Roth,et al.  Robot Programming: A Practical Guide to Behavior-Based Robotics , 2004 .

[16]  Masahiro Fujita,et al.  An open architecture for robot entertainment , 1997, AGENTS '97.