The Research Of Software Development Support Technology And Modular Softwredevelopment Based On Robot Operating Sysem

With the development of technology in computing, sensor and mechatronics technologies, robotics technology and its applications have gained an unprecedented development. Edutainment robots, as one of the most promising prospects service robots, have been rapid development in recent years. However, the quantity of common software for this robot is still relatively small, and also lack of a unified online development and simulation platform, coupled with such robots are often expensive, it’s bring some difficulty to promote robotic knowledge and developing application software for robot.Therefore, researching and developing common software for edutainment robots and creating a unified online developing platform are very important for popularizing basic knowledge of robot and the development of robot for a country. This thesis, based on the research of current status of domestic and international development of edutainment robots and related technology, design and implementation three typical modular software for edutainment robot on “InnoSTAR” hardware platform. The three new modules application not only enriched the functions of the existing education entertainment robot, but also has nothing to do with the underlying hardware, can be transplanted to other hardware platforms as well. We also realized a development system with online GUI editing, compiling, and online simulation. The way of graphical development and rich modular software reduce the robot application development complexity and cost.This thesis is based on the national 863 project "Robot modular technology" do the flowing work.Firstly, determine the direction and the significance of this research topic by analyzing the current status of edutainment robot common software, development platform and “InnoSTAR” platform.Secondly, determine the technology route of this article by the analysis of the related technology.Then, analyze the typical characteristics of edutainment robot, and using CORBA standard developed visual perception, information fusion and intelligent avoiding obstacles software base on “InnoSTAR” hardware platform. Enrich the typical edutainment robotics common software.Then, we designed and implemented a software development support system. Online software development support system using modular software as API libraries help users develops application software. While providing online simulation capabilities, allowing users verify the functionality of their applications without hardware.Finally, we use black-box testing method test our middleware and system development platform, the test result verify the realization of the middleware and platform functionality.