自主移动机器人(Autonomous Mobile Robot, AMR)是近年来出现的高智能机器人,被广泛应用于智能制造及物联网应用领域。在ROS2的基础上设计了AMR的硬件和软件系统架构,描述了基于AMR的多传感器数据融合与地图构建技术,提出了一种改进A^(*...自主移动机器人(Autonomous Mobile Robot, AMR)是近年来出现的高智能机器人,被广泛应用于智能制造及物联网应用领域。在ROS2的基础上设计了AMR的硬件和软件系统架构,描述了基于AMR的多传感器数据融合与地图构建技术,提出了一种改进A^(*)算法实现AMR的路径规划,最后给出AMR导航系统的实现步骤。结果表明,该移动机器人导航系统具有运行稳定性与导航准确性,能够有效降低电池的能耗。展开更多
Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure ...Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.展开更多
文摘机器人操作系统(robot operating system,简称ROS)是一种开源的元操作系统,能够在异种计算簇上提供基于消息机制的结构化通信层.为改善ROS1中存在的数据分发实时性、可靠性问题,ROS2提出了面向数据流的数据分发服务机制.采用概率模型检验的方法,分析、验证ROS2系统数据分发机制的实时性和可靠性.首先,提出一种面向数据流的ROS2数据分发服务的形式化验证框架,并对通信系统模块建立概率时间自动机模型;其次,运用概率模型检测器,通过数据丢失率和系统响应时间等参数分析、验证ROS2面向数据流的数据分发服务的实时性、可靠性;最后,基于重传机制、服务质量(quality of service,简称QoS)策略分析,通过设置和调整服务质量参数,实现不同的数据需求和传输方式的量化性能分析,为ROS2应用的设计人员以及基于数据流的分布式数据分发服务的形式化建模、验证和量化性能分析提供参考.
文摘自主移动机器人(Autonomous Mobile Robot, AMR)是近年来出现的高智能机器人,被广泛应用于智能制造及物联网应用领域。在ROS2的基础上设计了AMR的硬件和软件系统架构,描述了基于AMR的多传感器数据融合与地图构建技术,提出了一种改进A^(*)算法实现AMR的路径规划,最后给出AMR导航系统的实现步骤。结果表明,该移动机器人导航系统具有运行稳定性与导航准确性,能够有效降低电池的能耗。
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1309900)Institute for Guo Qiang,Tsinghua University of China(Grant No.2019GQG0007).
文摘Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.
