Research On Resource Scheduling Framework Of Cloud Robot Based On SOA

As a new structure in the robot system,cloud robots have become the focus of research in robotics.with the help of cloud platform,Robots show higher efficiency in computing and storage,but the heterogeneity of the robot and the complexity of cloud platform function and operation make the cloud computing platform and robots can not be better integrated.Starting from the basic theory and key technologies of cloud robots,this paper studies the resource scheduling framework of cloud robots based on service-oriented architecture.In order to solve the problems of poor convergence performance and low functional efficiency caused by the complexity of cloud platform resources and heterogeneity of robot,and to meet the diverse needs of cloud robot platform,this paper uses the interface layer architecture of cloud robot platform based on SOA,and carries out software implementation.Aiming at the problem of mapping virtual unit and physical resource in cloud platform,this paper proposes a game-based fairness-effectiveness trade-off game algorithm with the goal of improving resource scheduling performance.The experimental results show that the proposed algorithm can not only shorten the average task scheduling time,but also ensure the fairness of tasks and users in the task scheduling process,thus improving user satisfaction and fully demonstrating the performance advantages of this algorithm in resource scheduling of cloud platform.The main work of this paper is as follows:(1)Firstly,analyzed the requirements of cloud robot platform,designed the overall architecture of cloud robot platform.OpenStack Privatized cloud platform is built independently as the central processor and resource dispatching center for terminal devices.Two heterogeneous robotic terminals were purchased for motion experiments.Based on OpenStack cloud platform,the encapsulation and invocation of resource virtualization isrealized by Hypervisor technology of Type-I type.(2)In order to realize the loose coupling characteristics of the cloud platform and the robot,designed the interface layer architecture of the cloud robot platform,designed the service registration center and the service dispatching center module in the SOA interface layer in detail,and the code is implemented by using the java language.The design service quality selection algorithm evaluates the service quality of the service provider,and normalizes the parameters to remove the dimension of the attributes such as response time and reliability to achieve the purpose of optimizing the service quality.(3)Mathematical modeling of resource scheduling in the cloud storage structure.Aiming at the problems of cloud resource scheduling time and service demander satisfaction,this paper proposes and designs a FUTG(resource-effectiveness trade-off game)cloud resource scheduling algorithm based on game theory.Furthermore,the CloudSim cloud computing simulation platform is used for simulation experiments on the scheduling time and user satisfaction of the algorithm.Finally,through detailed data comparison and analysis,it is concluded that the fairness-effectiveness trade-off game algorithm used in this paper has higher advantages in resource scheduling performance and higher user satisfaction.