A method of real-time message transmission among multi-robots

A real-time message and robot technology, applied in transmission systems, digital transmission systems, electrical components, etc., can solve problems such as no public network real-time message transmission results or mature technical solutions, and inability to set quality of service parameters

Active Publication Date: 2018-08-03
NAT UNIV OF DEFENSE TECH
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, in the field of robot middleware, there is currently no public technical information related to the results of network real-time message delivery or mature technical solutions
Taking ROS as an example, its topic-based message publishing / subscribing mechanism can only provide ordinary message interaction capabilities, and cannot provide time-constrained service quality parameters for messages.

Method used

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  • A method of real-time message transmission among multi-robots
  • A method of real-time message transmission among multi-robots
  • A method of real-time message transmission among multi-robots

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specific Embodiment approach

[0087] Adopt the specific embodiment of the present invention as follows:

[0088] The first step is to build a simple UAV system, which consists of two computing nodes, a UAV and a ground control station, which are interconnected through network devices. (combined figure 1 ) UAV is equipped with operating system Ubuntu, robot middleware ROS, message real-time middleware conforming to DDS specification, ROS / DDS protocol plug-in and message publishing program. The ground control station is equipped with operating system Ubuntu, robot middleware ROS, message real-time middleware conforming to DDS specification, ROS / DDS protocol plug-in and message subscription program.

[0089] In the second step, the message publishing program on the UAV sends the flight status data and image information collected by the UAV, and the message subscription program of the ground control station receives the flight status data and image information sent by the UAV.

[0090] 2.1.1 The message publ...

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Abstract

The invention discloses a method for transmitting real-time messages among multiple robots. The purpose is to provide support for real-time transmission of network messages based on ROS at the robot middleware layer, so that the process of message transmission between multiple robots can meet the requirements of priority and transmission delay. Wait for time constraints. The technical solution is to introduce DDS, a network messaging specification with real-time guarantee capability, into ROS. First, build a multi-robot computing node environment. In this environment, the operating system Ubuntu, robot middleware ROS, and message real-time middleware that comply with DDS specifications are built. And the ROS / DDS protocol plug-in, the ROS / DDS protocol plug-in supports the real-time attribute setting of ROS messages, and realizes the mutual conversion between ROS messages and DDS messages, and uses the real-time message middleware that conforms to the DDS specification to send and receive messages. By adopting the present invention, under the condition that the existing multi-robot distributed application directly uses the ROS / DDS protocol plug-in without modification, the real-time performance of message transmission among multi-robots can be realized at the robot middleware layer.

Description

technical field [0001] The invention relates to the technical field of software construction, in particular to a method for realizing real-time message transmission among multiple robots by introducing a network message transmission protocol capable of ensuring real-time performance into a software middleware layer in a multi-robot distributed application. Background technique [0002] Multi-robot distributed application refers to a software system composed of multiple robots. In this system, multiple robots cooperate with each other to complete specified tasks. Typical examples of multi-robot distributed applications include drone swarm software systems, robot soccer team software systems, etc. Robot middleware is a software infrastructure that supports multi-robot distributed applications. It encapsulates solutions to common problems (such as data communication, transactions, etc.) in multi-robot distributed applications, which can greatly simplify the development process ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L12/58H04L29/08
CPCH04L51/046H04L51/226H04L67/56
Inventor 丁博刘惠王怀民史殿习樊泽栋史佩昌尹刚王涛李艺颖温尚敏周星张鹏飞
Owner NAT UNIV OF DEFENSE TECH
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