A component based design framework for robot software architecture

  • Authors:

  • Wei Hongxing;Duan Xinming;Li Shiyi;Tong Guofeng;Wang Tianmiao

  • Affiliations:

  • Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China;Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China;Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China;Institute of A. I. and Robotics and Key Laboratory of Integrated Automation of Process Industry, Northeastern University, Shenyang, China;Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing, China

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

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.