Design of Component-Based Software Architecture for Multi-Mobile Robots

Journal of South China University of Technology (Natural Science Edition) ›› 2008, Vol. 36 ›› Issue (1): 13-17,49.

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Design of Component-Based Software Architecture for Multi-Mobile Robots

Zhu Jin-hui Min Hua-qing Feng Fan Sun Guang-cheng

School of Computer Science and Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China

Received:2007-01-24 Revised:2007-04-02 Online:2008-01-25 Published:2008-01-25
Contact: 朱金辉（1977-），男，讲师，博士生，主要从事智能机器人方面的研究． E-mail:csjhzhu@scut．edu．cn
About author:朱金辉（1977-），男，讲师，博士生，主要从事智能机器人方面的研究．
Supported by:
国家自然科学基金资助项目（60673062）;广州市科技攻关项目（200723-D3151）

Abstract

Abstract:

In this paper, a component-based software architecture for multi-mobile robot, which adapts to heterogeneous robots and complex tasks, is presented. In the proposed architecture, different components such as sensor, actuator, data fusion, communication and decision, are integrated into an Agent for a special functional robot, and several Agents complete a task by collaboration. Moreover, components and composite components are selfdescribed with extensible markup language （ XML）, and the latter are used as the containers and managers of internal components. Experimental results show that the presented architecture is reusable and flexible.

Key words: mobile robot, software architecture, component, extensible markup language

Zhu Jin-hui Min Hua-qing Feng Fan Sun Guang-cheng . Design of Component-Based Software Architecture for Multi-Mobile Robots[J]. Journal of South China University of Technology (Natural Science Edition), 2008, 36(1): 13-17,49.

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Design of Component-Based Software Architecture for Multi-Mobile Robots

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