Design And Implementation Of A Middleware For Domestic Robots

Along with the rapid development of science and the continuous improvement of society,focus on robots has reached unprecedented heights.Among the different kinds of robots,domestic robots,which could help us to do some complex work,have entered into people's life.With these smart machines,people could affair from tedious family works.Besides robots,the development of smart mobile devices also progress greatly.With a super-high market share,the android smart phones have stepped into millions of households.Due to the fact that the source is open,android system also get the favor of many developers.The main work of this article is to develop a robot middleware for domestic robots,which runs on android operating system.This work implements the communication and control modules with which programmers can easily develop robot-based application rather than paying much attention to the hardware.This papers make a protocol which provides a communication schema.With the protocol,messages between middleware and hardware can be transferred efficiently.By making full use of the characteristics of the Android Service in the application layer,the middleware could exist in system as a background service.And it is available for multiple applications access at the same time.In addition,the paper discusses the SLAM(simultaneous localization and map building)in detail.In this work,SLAM is embedded in the middleware by Android NDK.Combined with laser and other hardware,the algorithm which offers a better domestic service could work efficiently on the devices.From the function and performance,this paper conducts a series of verification test in real world to ensure that the middleware functions well on android devices.With this work,android operating system shows possibility to be combined with robots to offer better domestic services.