Research On Group Control System Of Robot Based On Middleware Technology And Petri Net

With the development of science and technology,the performance of robot is being constantly improved,while the application depth and field are being relatively extended.Mutual coordination and cooperation between robots are needed for complicated tasks.Forthermore,it is different for robots used in different tasks and application field.The design shows high heterogeneity,which posseses different in hardware platform,operating system,communication protocol and programming language.And the programming environment provided by robot producer was not apt to the development of modern software technology.In addition,the multi-robot actions are often concurrently,based on dealing with complicated heterogeneous information,it is also required for control system to do comprehensive analysis of the multi-robot action sequence,build model and effective control.It is quite necessary to control multi-robot motion coordinately.So it will be a very meaningful research subject to shield heterogeneity in multi-robots,make unified interface and realize mutual communication and cooordination between heterogeneous robots without any obstacle.The CORBA middleware technology was introduced in this paper to resolve the problem cause by multi-robot system's distributed heterogeneous property.With CORBA intergtating different characteristics between heterogeneous robots,the unified interface criterion will be defined by interface definition language between heterogeneous robots software environments,based on three layer network architectures was posed.That is local robot layer,sever and client.According to IDL language property,different robot object realization was completed by server.While by ORB,server's ultimate invocation was realized by client without knowing the position of the server.Client and server coule run on different operating systems, which could be developed by different programming language.The CORBA middleware technology could modularize the development of robot application program which was simpler,faster,and improve the portability,reusability and maintainability of the system.For the time consumption of task sequence caused in the process of transmission and production by multi-robot system,the Petri net theory was introduced.With high discrete event modeling capabilities,it will have unique advantages use Petri net in the foundation and analysis of the multi-robot coordinated operation mathematical model.By describing system with Petri net,the optimal path can be planned from original mark to target mark in some optimization rules.The heterogeneous robot group control system was introduced from the following aspects in this paper.First,the criterion,architecture,IIOP protocol of the CORBA middleware technology and CORBA service were analyzed deeply.CORBA is just a technical specification,not a specific programming language,so a development environment was needed.TAO was selected as the CORBA development platform in this paper.Then the system frame structure and the overall development process were introduced.According to different types of robot,a common standard interface was defined.And the interface implement was realized in the server and client respectively. Third,the typical task was modeled by time Petri net,and task sequence optimization program was made.Different optimization arithmetic was proved by experimentation for specific application context.