Robot middleware naming service self-stabilizing method

Abstract

The invention belongs to the field of robots, and discloses a robot middleware naming service self-stabilizing method. Firstly, a plurality of standby naming servers are added to a system to improve a system communication structure, the newly-added naming servers are in normal communication with a current system, and a plurality of running states are defined for the naming servers; then, the naming servers are evaluated according to a computer where the naming servers are located and according to the states of the naming servers, and an identification code which represents the health degree of the environment where the naming servers are located is obtained; finally, the health degree of the environment where the naming servers are located is taken as a standard, and the naming server with the highest health degree is selected from the standby naming servers to enter the leading state. The selection concept in distributed calculation is introduced, and therefore the naming server self-stabilizing effect is achieved; a mathematical evaluation model of the condition of the health degrees of the environment where the naming servers are located is put forward through an information entropy thought, and a reasonable and effect solution is provided for evaluating the environment where the naming servers run.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a self-stabilizing method for a robot control software naming server, in particular to a method for improving a system structure, a method for improving a dynamic model, a method for evaluating a naming server, and an election method. Background technique [0002] OpenRTM-aist is an open source middleware platform developed by Japan National Institute of Advanced Industrial Science and Technology (AIST), which adopts CORBA (Common Object Request Broker Architecture, Common Object Request Broker Architecture) architecture. RTM technology effectively shields the complexity of the underlying operating system, enables program developers to face a simple and unified development environment, reduces the complexity of program design, and eliminates the differences between development languages ​​and network protocols. Various communication service mechanisms are provided. In the intelligent robot s...

AI Technical Summary

Problems solved by technology

When the naming server fails to work due to network congestion and other reasons, the connected robot modules will continue to run, but the user has no access rights, and the user cannot create new modules or control the current robot module system, which will lead to a series of serious consequences

Such problems in the RTM system have not yet found a suitable solution

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