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首页> 外文期刊>Marine Technology Society journal >Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications
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Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications

机译：开发适用于海洋机器人应用的灵活的命令和控制软件体系结构

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This paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.
机译：本文报告了围绕轻量级通信和编组（LCM）发布/订阅消息传递系统构建的监督控制框架和模块化软件体系结构的实现。特别是，我们研究了使用此模块化系统的两​​种不同的海洋机器人应用程序：（i）无人港口安全车辆的开发，支持紧急反应人员对港口环境中的运输安全事件做出反应的机器人水面平台，以及（ii）适应用于基于视觉功能的导航的商用现成的自动潜水器（Ocean-Server Iver2）。在这两种情况下，模块化车辆软件基础架构均基于开源LCM软件库，以实现低延迟，实时消息传递。为了阐明LCM在海洋机器人系统中的实际应用，我们介绍了这两个成功的海洋机器人应用程序的软件体系结构，并说明了这种方法对实时海洋机器人技术的功能和灵活性。我们提供了基准测试结果，将LCM的吞吐量与面向任务的操作套件进行了比较，该套件是海洋机器人领域中另一个流行的机器人软件系统。实验结果表明，LCM框架具有向操作员提供大量可操作信息并允许进行分布式监督控制的能力。我们还讨论了选择用于监督控制的软件基础结构时涉及的定性折衷。

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