摘要
针对目前服务型机器人在执行复杂服务任务时面临着较高的本地计算和存储压力的问题以及机器人服务的可拓展性较低的问题,提出一种基于SOA架构的云机器人分布式服务框架。通过云机器人服务的分布式部署提高资源的利用率和服务质量,通过设计SOA接口层,消除异构机器人之间底层差异。针对单一云机器人服务的局限性,提出一种多服务副本下服务查找和组合算法,实现云机器人集群服务覆盖网络下服务执行的负载均衡和弹性容错,提高云机器人集群的稳定性和服务的吞吐量。通过仿真对比实验,验证了该算法的有效性。
For facing the high local computing and storage pressures,and low expansibility of robot services when service robots perform complex service tasks,a distributed service framework of cloud robots based on SOA architecture(service-oriented architecture)was proposed.Through the distributed deployment of cloud robots services,the resource utilization and service quality were improved,and through the design of the SOA interface layer,the underlying differences between heterogeneous robots were eliminated.A service discovery and combination algorithm with multi-service replicas was proposed,which achieved load balancing and resilient fault-tolerant of service execution under service overlay network and improved the stability of cloud robots cluster and the service throughput.The simulation and comparison experiments were carried out to verify the validity and feasibility of the proposed algorithm.
作者
刘晓军
类成玉
吴皓
杨勇
LIU Xiao-jun;LEI Cheng-yu;WU Hao+;YANG Yong(School of Mechanical and Control Engineering,Shengli College China University of Petroleum,Dongying 257000,China;School of Control Science and Engineering,Shandong University,Jinan 250061,China;Technical Department,Jinan Haoyuan Automatic Control System Engineering Limited Company,Jinan 250000,China)
出处
《计算机工程与设计》
北大核心
2021年第2期567-573,共7页
Computer Engineering and Design
基金
国家自然科学基金项目(62773239、U1813215)
国家重点研发计划基金项目(2018YFB1307101)
山东省自然科学基金项目(ZR201702180022、ZR2017MF014)
山东省科技重大专项基金项目(2015ZDXX0101F03)
山东省本科高校教学改革研究基金项目(C2016M076)。
关键词
云机器人
面向服务体系架构
分布式系统
服务查找
服务组合
cloud robots
service-oriented architecture
distributed system
service discovery
service composition
