文章基本信息

标题：Concepts of a Modular System Architecture for Distributed Robotic Systems
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作者：Uwe Jahn ; Carsten Wolff ; Peter Schulz 等
期刊名称：Computers
电子版ISSN：2073-431X
出版年度：2019
卷号：8
期号：1
页码：25-40
DOI：10.3390/computers8010025
出版社：MDPI Publishing
摘要：Modern robots often use more than one processing unit to solve the requirements in robotics. Robots are frequently designed in a modular manner to fulfill the possibility to be extended for future tasks. The use of multiple processing units leads to a distributed system within one single robot. Therefore, the system architecture is even more important than in single-computer robots. The presented concept of a modular and distributed system architecture was designed for robotic systems. The architecture is based on the Operator–Controller Module (OCM). This article describes the adaption of the distributed OCM for mobile robots considering the requirements on such robots, including, for example, real-time and safety constraints. The presented architecture splits the system hierarchically into a three-layer structure of controllers and operators. The controllers interact directly with all sensors and actuators within the system. For that reason, hard real-time constraints need to comply. The reflective operator, however, processes the information of the controllers, which can be done by model-based principles using state machines. The cognitive operator is used to optimize the system. The article also shows the exemplary design of the DAEbot, a self-developed robot, and discusses the experience of applying these concepts on this robot.
关键词：robotics; mobile robots; distributed systems; system architectures; operator–controller module (OCM); health monitoring; modular systems; single-board computer (SBC); cloud computing robotics ; mobile robots ; distributed systems ; system architectures ; operator–controller module (OCM) ; health monitoring ; modular systems ; single-board computer (SBC) ; cloud computing