Design And Implementation Of ROS-based Cloud Robot Platform

In recent years, driven by development of new technologies such as computer technology, sensor technology, electronics technology, robotics has ushered in a golden period of rapid development. With the generation of cloud computing from Internet applications upsurge, robotics has also been injected new vitality to grow up. Cloud robot which combines cloud computing and robotics, will bring a new revolution in the field of robotics research and application since its great prospects in performance and cost.Starting from the application requirements and key technology of cloud robot, this thesis designed and implemented a cloud robot platform based on Robot Operation System(ROS), to provide comprehensive platform support and service for the research and application of cloud robot. According to the concept of Robot as a Service in Cloud Computing(RaaS), this platform architecture with service-oriented ROS software framework, is made up of global cloud, local cloud, and robots. The traditional cloud is divided into global cloud part and local cloud part to maximize the transmission and processing performance of cloud robot platform. Implemented with robots Internet(RoboEarth) and web robot applications, global cloud focuses on global data storage, sharing and interaction among robots. And local cloud is mainly responsible for intensive computing, such as robot application services and local visual interactive. A local network is composed of local cloud and robots to reduce system dependence on global network. Depending on the application needs, the number, performance, topology of local servers in local cloud can be configured flexibly. Robots are user-oriented terminal service units. In order to improve reusability of service module, a unified data interface and general features were designed and implemented aiming at sensor system, execution system, control system, and information processing system for robots.Finally, according to the design and implementation of ROS-based cloud robot platform, a series of tests and experiments using experimental robots were run to verify the availability and characteristics of the platform.