Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation

摘要

Sophisticated robotic applications require systems to be reconfigurable at the system level. Aiming at this requirement, this paper presents the design and implementation of a software architecture for a reconfigurable real-time multiprocessing system for multi-robot control. The system is partitioned into loosely coupled function units and the data modules manipulated by the function units. Modularized and unified structures of the sub-controllers and controller processes are designed and constructed. All the controller processes run autonomously and intra-sub-controller information exchange is realized by shared data modules that serve as a data repository in the sub-controller. The dynamic data-management processes are responsible for data exchange among sub-controllers and across the computer network. Among sub-controllers there is no explicit temporal synchronization and the data dependencies are maintained by using datum-based synchronization. The hardware driver is constructed as a two-layered system to facilitate adaptation to various robotic hardware systems. A series of effective schemes for software fault detection, fault anticipation and fault termination are accomplished to improve run-time safety. The system is implemented cost-effectively on a QNX real-time operating system (RTOS) based system with a complete PC architecture, and experimentally validated successfully on an experimental dual-arm test-bed. The results indicate that the architectural design and implementation are well suited for advanced application tasks.