| With the continuous expansion of robotic application area，different scenarios such asmedical, disaster relief, smart home have higher demands on real-time, intelligent robot runningin more and more unstructured environment,robot may need to add a variety of new sensors andactuators, while in this environment it is difficult to determine the task of the robot in advance,robots need to get real-time environment status information from the sensors,update requiredtasks under the current scenario and resolve anomalies at runtime.These issues need robotsoftware development demands a higher level in the online reconfiguration, in order to solve theproblem in aspects such as a modular robot software, the correctness of the model, andsupporting for online reconfiguration:Firstly, we propose a way to combine the use of runtime software architecture and roboticmodel development, a develop method supporting online reconfiguration for robot softwareresearch. The runtime architecture abstracts the complexity of the underlying robot systems, andcan be mapped to different types of robot software development by different configurations,which simplifies the development steps of different types of robot. Furthermore runtimearchitecture model is an abstract architecture meta-model,it is an abstract meta-modelarchitecture, simply by monitoring and changing the runtime software architecture model, wecan online reconfigure and manage the complex robotic systems.Secondly, we use EMF technology to establish a rigorous abstract architecture meta-modeland actual robotic systems meta-model, and use the model validation tools to ensure thecorrectness of the model developed during the development process.In addition we can alsogenerate the underlying JAVA code and plug-in project with the genmodel, then by editing thecode, you can achieve different needs, in this way we simplify coding of the cumbersomeunderlying code.According to the generated plug-in project, run them as an Eclipse project cangenerate runtime environment, then we can establish specific instances of architectural modelsand actual robot system model. Again, by using bidirectional transformation, model difference and merge to meet the needs of reconfigure on the model instances,and use SM@RT tools toensure consistency between the two models after model difference and merge, and realized theneeds of online reconfiguration on robots.Finally, we use Visual Studio using C#language and Microsoft Robotics DevelopmentStudio established the simulation robot and corresponding simulation environment,thensuccessfully validated the real-time availability of the entire architecture.During the verificationprocess, the instance of runtime robot system and the simulation robot we built is a real-timemapping between each other,we use Socket code to communicate C#code and Java code in realtime, to ensure real consistency between the instance of robot system meta-model and thesimulation robot throughout the validation process.The experimental results show that thisapproach effectively support online reconfiguration, simplifying the process and difficulty ofrobot software development,and improved the reusability of the entire development process. |
