摘要
针对家庭及医院等环境下的助老助残服务机器人,采用基于行为的机器人控制技术,设计了服务机器人机载计算机软件体系架构,对软件系统的硬件通讯层、指令协议解析层、行为层和行为决策层进行了详细的说明。软件编程中通过各种抽象对象的组合来组织代码,由面向对象的C++编程语言进行实现。通过采用模糊控制及基于加权合成的多行为融合机制,较好地实现了服务机器人的复杂行为控制。实验及应用表明,本服务机器人机载计算机软件系统具有界面友好、性能稳定、使用方便、可扩展性强、开放性强的特点,较好地满足了家庭及医疗环境下服务机器人对机载计算机系统软件的要求,具有一定的应用推广价值。
Aiming at the service robots for helping the aged and the disabled in the family and hospital environment,the architecture of the onboard computer software for service robots was designed based on behavior control.Then a hardware communication layer,protocol parsing layer,behavior layer and behavior decision layer of the software system were explained in detail.A variety of Abstract objects was used to organize the code in software programming,and it was realized by the object-oriented C＋ ＋ programming language.By using fuzzy control and the weighted synthesizing based multi-action fusion mechanism in the software,the service robot complex behavior control was better realized.Experimental and application results showed that the software system had many merits such as friendly interface,stable performance,convenient usage,good expansibility,and better meets the requirements of the service robots to software system on onboard computer in the home and medical environments.In reality,it has some potential benefits for their applications in relative fields.
出处
《山东大学学报（工学版）》
CAS
北大核心
2011年第1期32-39,共8页
Journal of Shandong University（Engineering Science）
基金
国家高技术研究发展计划(863计划)资助项目(2009AA04Z220)
中国博士后科学基金资助项目(20100471522)
