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....

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3429 - 3434
Main Authors Wei Hongxing, Duan Xinming, Li Shiyi, Tong Guofeng, Wang Tianmiao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Application software
Component
Control systems
Hardware
IDL
Intelligent robots
Middleware
Robot Middleware
Robot sensing systems
Robot Software Architecture
Robotics and automation
Service robots
Software architecture
Software reusability
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Summary: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.
ISBN:9781424438037
1424438039
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354161