摘要
在分布式网络环境中,多个机器人节点间的信息交互与协同越来越多。在分析了机器人系统间的通信特点之后,提出了基于DDS的通信中间件。该中间件实现了基于主题的发布订阅,为机器人提供实时、可靠的数据传输能力。利用中间件的心跳消息,实现了机器人网络的动态重组,有效地支持了机器人节点的动态加入与退出。通过模拟实验对通信中间件的传输延迟进行了测试,实验表明该中间件能够有效地适应机器人系统应用对通信的要求。
In distributed network environment, the interaction and collaboration between multiple machines are becoming more and more. After analyzing the communication characteristics among the robot systems, a communication middleware based on DDS is proposed.The communication middleware implements topic based publish and subscribe,and provides real-time and reliable transfer capability for robot.By using the heartbeat message of middleware,the dynamic reconfiguration of robot network is realized,and the dynamic join and exit of robot nodes are effectively supported.The transmission delay of communication middleware is tested by simulation experiment.The experimental results show that the communication middleware can adapt to the communication requirements of robot system effectively.
出处
《信息通信》
2017年第9期85-87,共3页
Information & Communications
关键词
机器人
通信中间件
发布订阅
动态组网
Robot
Commuoication Middleware
Publish and Subscribe
Dynamic Network
