基于中间件技术和Petri网的机器人群控系统的研究
摘要
随着科学技术的发展,机器人的性能不断提高,其应用的深度和领域正不断扩展。一些复杂的任务需要多种类的机器人相互协调与合作才能完成。而不同作业和应用现场的机器人差别很大,它们的设计体现了很大的异构性,具有不同的硬件平台、操作系统、通信协议和编程语言,机器人开发商提供的编程环境也跟不上现代软件技术的发展。另外多机器人的动作往往是并发的,控制系统在保证处理复杂异构信息的基础上还需对多机器人的动作序列进行综合分析,建立模型,有效控制。多机器人的协调运动控制,是非常必要的。因此,研究如何屏蔽多机器人之间的异构性,制定统一接口,实现异构机器人之间无障碍的相互通信、相互协作,成为一个非常有意义的研究课题。
论文引入CORBA中间件技术解决多机器人系统的分布式异构问题。利用CORBA能综合异构机器人之间的不同特性,通过IDL接口定义语言在异构机器人自身软件环境之间抽象定义统一的接口规范,在此基础之上形成机器人控制系统的三层网络结构,即本地机器人层、服务端、客户端。服务端根据IDL语言特性完成不同机器人的对象实现,而客户端可以利用对象请求代理(ORB)来实现服务端的最终调用,不需要知道服务端所在的位置。客户端和服务端可以运行在不同的操作系统上,采用不同的编程语言进行开发。CORBA中间件技术可以使机器人应用程序的开发模块化,更加简单、快速,能够提高系统的可移植性、可重用性和可维护性。
针对多机器人系统在传输加工过程中任务序列的时间消耗,引入了Petri网理论。Petri网具有很强的离散事件建模能力,将它应用于多机器人协调操作数学模型的建立和分析上具有独特的优越性。通过Petri网描述系统,可按照一定的优化准则计算从最初标识到目标标识的最优路径。
主要从以下几个方面对异构机器人群控系统进行了介绍:首先,深入分析了CORBA中间件技术的规范、体系结构、IIOP协议和CORBA服务。由于CORBA只是一个技术规范,不是一种具体的编程语言,因此需要有一个支持CORBA的开发环境,论文采用TAO作为CORBA开发平台。其次对系统的框架结构和整体的开发流程作了介绍。根据不同种类的机器人定义了一套通用标准化的接口,并分别在服务端和客户端完成了对接口的实现。第三用时间Petri网对典型任务建模,并编制了任务序列优化程序,针对具体的应用背景,对不同优化算法进行了试验验证。
With the development of science and technology,the performance of robot is being constantly improved,while the application depth and field are being relatively extended.Mutual coordination and cooperation between robots are needed for complicated tasks.Forthermore,it is different for robots used in different tasks and application field.The design shows high heterogeneity,which posseses different in hardware platform,operating system,communication protocol and programming language.And the programming environment provided by robot producer was not apt to the development of modern software technology.In addition,the multi-robot actions are often concurrently,based on dealing with complicated heterogeneous information,it is also required for control system to do comprehensive analysis of the multi-robot action sequence,build model and effective control.It is quite necessary to control multi-robot motion coordinately.So it will be a very meaningful research subject to shield heterogeneity in multi-robots,make unified interface and realize mutual communication and cooordination between heterogeneous robots without any obstacle.
The CORBA middleware technology was introduced in this paper to resolve the problem cause by multi-robot system's distributed heterogeneous property.With CORBA intergtating different characteristics between heterogeneous robots,the unified interface criterion will be defined by interface definition language between heterogeneous robots software environments,based on three layer network architectures was posed.That is local robot layer,sever and client.According to IDL language property,different robot object realization was completed by server.While by ORB,server's ultimate invocation was realized by client without knowing the position of the server.Client and server coule run on different operating systems, which could be developed by different programming language.The CORBA middleware technology could modularize the development of robot application program which was simpler,faster,and improve the portability,reusability and maintainability of the system.
For the time consumption of task sequence caused in the process of transmission and production by multi-robot system,the Petri net theory was introduced.With high discrete event modeling capabilities,it will have unique advantages use Petri net in the foundation and analysis of the multi-robot coordinated operation mathematical model.By describing system with Petri net,the optimal path can be planned from original mark to target mark in some optimization rules.
The heterogeneous robot group control system was introduced from the following aspects in this paper.First,the criterion,architecture,IIOP protocol of the CORBA middleware technology and CORBA service were analyzed deeply.CORBA is just a technical specification,not a specific programming language,so a development environment was needed.TAO was selected as the CORBA development platform in this paper.Then the system frame structure and the overall development process were introduced.According to different types of robot,a common standard interface was defined.And the interface implement was realized in the server and client respectively. Third,the typical task was modeled by time Petri net,and task sequence optimization program was made.Different optimization arithmetic was proved by experimentation for specific application context.
论文引入CORBA中间件技术解决多机器人系统的分布式异构问题。利用CORBA能综合异构机器人之间的不同特性,通过IDL接口定义语言在异构机器人自身软件环境之间抽象定义统一的接口规范,在此基础之上形成机器人控制系统的三层网络结构,即本地机器人层、服务端、客户端。服务端根据IDL语言特性完成不同机器人的对象实现,而客户端可以利用对象请求代理(ORB)来实现服务端的最终调用,不需要知道服务端所在的位置。客户端和服务端可以运行在不同的操作系统上,采用不同的编程语言进行开发。CORBA中间件技术可以使机器人应用程序的开发模块化,更加简单、快速,能够提高系统的可移植性、可重用性和可维护性。
针对多机器人系统在传输加工过程中任务序列的时间消耗,引入了Petri网理论。Petri网具有很强的离散事件建模能力,将它应用于多机器人协调操作数学模型的建立和分析上具有独特的优越性。通过Petri网描述系统,可按照一定的优化准则计算从最初标识到目标标识的最优路径。
主要从以下几个方面对异构机器人群控系统进行了介绍:首先,深入分析了CORBA中间件技术的规范、体系结构、IIOP协议和CORBA服务。由于CORBA只是一个技术规范,不是一种具体的编程语言,因此需要有一个支持CORBA的开发环境,论文采用TAO作为CORBA开发平台。其次对系统的框架结构和整体的开发流程作了介绍。根据不同种类的机器人定义了一套通用标准化的接口,并分别在服务端和客户端完成了对接口的实现。第三用时间Petri网对典型任务建模,并编制了任务序列优化程序,针对具体的应用背景,对不同优化算法进行了试验验证。
With the development of science and technology,the performance of robot is being constantly improved,while the application depth and field are being relatively extended.Mutual coordination and cooperation between robots are needed for complicated tasks.Forthermore,it is different for robots used in different tasks and application field.The design shows high heterogeneity,which posseses different in hardware platform,operating system,communication protocol and programming language.And the programming environment provided by robot producer was not apt to the development of modern software technology.In addition,the multi-robot actions are often concurrently,based on dealing with complicated heterogeneous information,it is also required for control system to do comprehensive analysis of the multi-robot action sequence,build model and effective control.It is quite necessary to control multi-robot motion coordinately.So it will be a very meaningful research subject to shield heterogeneity in multi-robots,make unified interface and realize mutual communication and cooordination between heterogeneous robots without any obstacle.
The CORBA middleware technology was introduced in this paper to resolve the problem cause by multi-robot system's distributed heterogeneous property.With CORBA intergtating different characteristics between heterogeneous robots,the unified interface criterion will be defined by interface definition language between heterogeneous robots software environments,based on three layer network architectures was posed.That is local robot layer,sever and client.According to IDL language property,different robot object realization was completed by server.While by ORB,server's ultimate invocation was realized by client without knowing the position of the server.Client and server coule run on different operating systems, which could be developed by different programming language.The CORBA middleware technology could modularize the development of robot application program which was simpler,faster,and improve the portability,reusability and maintainability of the system.
For the time consumption of task sequence caused in the process of transmission and production by multi-robot system,the Petri net theory was introduced.With high discrete event modeling capabilities,it will have unique advantages use Petri net in the foundation and analysis of the multi-robot coordinated operation mathematical model.By describing system with Petri net,the optimal path can be planned from original mark to target mark in some optimization rules.
The heterogeneous robot group control system was introduced from the following aspects in this paper.First,the criterion,architecture,IIOP protocol of the CORBA middleware technology and CORBA service were analyzed deeply.CORBA is just a technical specification,not a specific programming language,so a development environment was needed.TAO was selected as the CORBA development platform in this paper.Then the system frame structure and the overall development process were introduced.According to different types of robot,a common standard interface was defined.And the interface implement was realized in the server and client respectively. Third,the typical task was modeled by time Petri net,and task sequence optimization program was made.Different optimization arithmetic was proved by experimentation for specific application context.
引文
[1]Topi MaenPaa,Antti Tikanmaki,and Jukka Riekki.A Distributed Architecture For Executing Complex Tasks with Multiple Robots[J].Proceedings of the 2004IEEE Intemational Conference on Robotics & Automation,2004,3449-3455.
[2]Tamio Arai,Enrico Pagello,and Lynee E.Parker.Advances in multi-robot systems.IEEE Transaction on Robotics and Automation,2002,18(5):655-661.
[3]Y.U.Cao,A.S.Fukunaga,and A.B.Kahng.Cooperative mobile robotics:antecedents and directions.Autonomous Robots,1997,4(1):7-27.
[4]Tucker R.Baleh.Hierarchic Social EntroPy:An Information Theoretic Measure of Robot GroupDiversity.Autonomous Robots,2000.,8(3):209-238.
[5]David Jung,Alexander Zelinsky.Grounded Symbolic Communication between Heterogeneous Cooperating Robots.Autonomous Robots,2000,8(3):269-292
[6]Robert Grabowski,Luis E.Navarro-Serment,Christiaan J.J.Paredis,et al.Heterogeneous Teams of Modular Robots for Mapping and Exploration.Autonomous Robors,2000,8(3):293-308.
[7]张云勇,张智江,刘锦德等.中间件技术原理与应用[M].北京:清华大学出版社,2004:5-5.
[8]DeTurck,F.Volckaert,B.Demeester,P.VanhaStel,Stefaan.A generic middleware based platform for scalable cluster computing.Future Generation Computer Systems,March 2002,18(4).549-560
[9]Nahrstedt,K.Xu,Wichadakul,D.Li.QoS-aware middleware for ubiquitous and heterogeneous environments.IEEE Communications Magazine,November 2001,39(11):140-148
[10]袁崇义.Petri网原理与应用[M].北京:电子工业出版社,2005.
[11]吴洁明,杨文龙.用Petri网进行并发系统的描述与分析.北方工业大学学报.1991,3(3):77-84.
[12]Asama H.Design of an Autonomous and Distributed Robot System:ACTRESS.Proc IEEE/RSJ IROS'89,Tsukubs,1989:283.
[13]Chiri jian G S.Kinematics of a Metamorphic Robotic System.IEEE Conf.Robotic Automation,1994.
[14]Beni G,Wang J.Theoretical Problems for the Realization of Distributed Robotic Systems.Proc IEEE ICRA'91:1914-1920.
[15]O.khatib.Force Strategies for CooPerative Tasks in MultiPle Mobile ManiPulation Systems.In:International Symposium of Robotics Research,Munich,1995.
[16]L.Parker.ALLIANCE:An Architecture for Fault Tolerant Multirobot CooPeration.In:IEEE Transactions on Robotics and Automation 1998,14(2)220:240.
[17]黄永华,孟正大,郝立.基于CORBA的Web机器人系统的设计与实现[J].计算机与现代化,2004,6 12-15.
[18]贺明晰,尹朝万.基于CORBA的多机器人应用互操作系统的研究与实现[J].机器人,2000,223 194-199.
[19]郑浩峻,汪劲松.基于Petri网模型控制的步行机器人的自由步态.清华大学学报(自然科学版),2001,41(8):41-48.
[20]曾孔庚,郭志恒,王上哲,谷宝峰,肖慧力.MOTOMAN的UP系列机器人功能介绍[J].机器人技术与应用,2001,(6):40-43.
[21]DeTurck,F.Volckaert,B.Demeester,P.VanhaStel,Stefaan.A generic middleware based platform for scalable cluster computing.Future Generation Computer Systems,March 2002,18(4).549-560.
[22]Nahrstedt,K.Xu,Wichadakul,D.Li.QoS-aware middleware for ubiquitous and heterogeneous environments.IEEE Communications Magazine,November 2001,39(11).140-148.
[23]黄崇本,吴朝晖.中间件技术规范与应用[J].计算机应用与软件,2004,21(7):24-26,76.
[24]Gamma Erich,Helm Richard,Johnson.Design pattens[M].北京:机械工业出版社,2002.
[25]Corry,Mayfield,Cadman.COM/DCOM编程指南[M].清华大学出版社, 2000.01.
[26]OMG.CORBA系统结构、原理与规范[M].北京:电子工业出版社,2000.
[27]Michi Henning,Steve Vinoski.基于C++CORBA高级编程[M].北京:清华大学出版社,2000.7.
[28]O.otte,P.Patrick,M.Roy.CORBA教程:公共对象请求代理体系结构[M].清华大学出版社,1999.10.
[29]OMG.CORBA语言映射[M].北京:电子工业出版社,2001.
[30]SteveVinoski.CORBA:Intergrating diverse applications within distributed heterogeneous environments[J].IEEE Communications,1997,14 2 46-55.
[31]杜理渊,陈伟杰,傅育熙.CORBA/ⅡOP的语义初探[J].上海交通大学学报,1998,32 10 62-65.
[32]Object Computing,Inc.TAO Developer's Guide.OCI Document,2003.
[33]Aniruddha S.Gokhale,Douglas C.Schmidt.Optimazing a CORBA Intenet Inter-ORB Protocol(ⅡOP)Engine for Minimal Footprint Embedded Multimedia Systems[J].IEEE Journel on Selected areas in communciations,1999,17 91673-1706.
[34]Douglas C.schmidt,stephen,D.Huston.C++网络编程卷2:运用ACE和模式消除复杂性[M].华中科技大学出版社,2003.12.
[35]Douglas C.schmidt,stephen,D.Huston.C++网络编程卷2:基于ACE和框架的系统化复用[M].清华大学出版社,2004.02.
[36]Huang-Ming Huang,Christopher Gill.Design and Performance of Fault-Tolerant Real-time CORBA Event Serviee[J].Proeeedings of the18th Euromicro Conference on Real-time Systems,2006.
[37]OMG.CORBA服务[M].北京:电子工业出版社,2002.
[38]Freedman P.Time,Petri nets and robotics[J].IEEE Trans on Robotics and automation,1991,7(4):417-433.
[39]王环球,高金钟,许凤璋.基于Petri网的系统可靠性分析.北京轻工业学院学报.1998,16(2):87-93.
[40]Winfrid Sehneeweiss.Meantime to first failure of repairable systems with one cold spare.IEEE Trans Reliability,1995,44(4):567-574.
[41]Malhoyra M,TrvediK S.Power-hierarchy of Dependabaility-mode types.IEEE Trans Reliability,1994,43(3):493-502.
[42]James L.Peterson.Petri Net Theory and The Modeling of Systems.Prentice Hall INC,1981.
[43]C.Girault,R.Valk著,王生原 等译.系统工程Petri网建模、验证与应用指南.北京:电子工业出版社,2005.
[44]C.A.Petri.Nets,Time and space.Theoratieal ComPuter Science,153:3-48,1996.
[45]吴哲辉.Petri网导论.北京:机械工业出版社,2006,1-3.
[2]Tamio Arai,Enrico Pagello,and Lynee E.Parker.Advances in multi-robot systems.IEEE Transaction on Robotics and Automation,2002,18(5):655-661.
[3]Y.U.Cao,A.S.Fukunaga,and A.B.Kahng.Cooperative mobile robotics:antecedents and directions.Autonomous Robots,1997,4(1):7-27.
[4]Tucker R.Baleh.Hierarchic Social EntroPy:An Information Theoretic Measure of Robot GroupDiversity.Autonomous Robots,2000.,8(3):209-238.
[5]David Jung,Alexander Zelinsky.Grounded Symbolic Communication between Heterogeneous Cooperating Robots.Autonomous Robots,2000,8(3):269-292
[6]Robert Grabowski,Luis E.Navarro-Serment,Christiaan J.J.Paredis,et al.Heterogeneous Teams of Modular Robots for Mapping and Exploration.Autonomous Robors,2000,8(3):293-308.
[7]张云勇,张智江,刘锦德等.中间件技术原理与应用[M].北京:清华大学出版社,2004:5-5.
[8]DeTurck,F.Volckaert,B.Demeester,P.VanhaStel,Stefaan.A generic middleware based platform for scalable cluster computing.Future Generation Computer Systems,March 2002,18(4).549-560
[9]Nahrstedt,K.Xu,Wichadakul,D.Li.QoS-aware middleware for ubiquitous and heterogeneous environments.IEEE Communications Magazine,November 2001,39(11):140-148
[10]袁崇义.Petri网原理与应用[M].北京:电子工业出版社,2005.
[11]吴洁明,杨文龙.用Petri网进行并发系统的描述与分析.北方工业大学学报.1991,3(3):77-84.
[12]Asama H.Design of an Autonomous and Distributed Robot System:ACTRESS.Proc IEEE/RSJ IROS'89,Tsukubs,1989:283.
[13]Chiri jian G S.Kinematics of a Metamorphic Robotic System.IEEE Conf.Robotic Automation,1994.
[14]Beni G,Wang J.Theoretical Problems for the Realization of Distributed Robotic Systems.Proc IEEE ICRA'91:1914-1920.
[15]O.khatib.Force Strategies for CooPerative Tasks in MultiPle Mobile ManiPulation Systems.In:International Symposium of Robotics Research,Munich,1995.
[16]L.Parker.ALLIANCE:An Architecture for Fault Tolerant Multirobot CooPeration.In:IEEE Transactions on Robotics and Automation 1998,14(2)220:240.
[17]黄永华,孟正大,郝立.基于CORBA的Web机器人系统的设计与实现[J].计算机与现代化,2004,6 12-15.
[18]贺明晰,尹朝万.基于CORBA的多机器人应用互操作系统的研究与实现[J].机器人,2000,223 194-199.
[19]郑浩峻,汪劲松.基于Petri网模型控制的步行机器人的自由步态.清华大学学报(自然科学版),2001,41(8):41-48.
[20]曾孔庚,郭志恒,王上哲,谷宝峰,肖慧力.MOTOMAN的UP系列机器人功能介绍[J].机器人技术与应用,2001,(6):40-43.
[21]DeTurck,F.Volckaert,B.Demeester,P.VanhaStel,Stefaan.A generic middleware based platform for scalable cluster computing.Future Generation Computer Systems,March 2002,18(4).549-560.
[22]Nahrstedt,K.Xu,Wichadakul,D.Li.QoS-aware middleware for ubiquitous and heterogeneous environments.IEEE Communications Magazine,November 2001,39(11).140-148.
[23]黄崇本,吴朝晖.中间件技术规范与应用[J].计算机应用与软件,2004,21(7):24-26,76.
[24]Gamma Erich,Helm Richard,Johnson.Design pattens[M].北京:机械工业出版社,2002.
[25]Corry,Mayfield,Cadman.COM/DCOM编程指南[M].清华大学出版社, 2000.01.
[26]OMG.CORBA系统结构、原理与规范[M].北京:电子工业出版社,2000.
[27]Michi Henning,Steve Vinoski.基于C++CORBA高级编程[M].北京:清华大学出版社,2000.7.
[28]O.otte,P.Patrick,M.Roy.CORBA教程:公共对象请求代理体系结构[M].清华大学出版社,1999.10.
[29]OMG.CORBA语言映射[M].北京:电子工业出版社,2001.
[30]SteveVinoski.CORBA:Intergrating diverse applications within distributed heterogeneous environments[J].IEEE Communications,1997,14 2 46-55.
[31]杜理渊,陈伟杰,傅育熙.CORBA/ⅡOP的语义初探[J].上海交通大学学报,1998,32 10 62-65.
[32]Object Computing,Inc.TAO Developer's Guide.OCI Document,2003.
[33]Aniruddha S.Gokhale,Douglas C.Schmidt.Optimazing a CORBA Intenet Inter-ORB Protocol(ⅡOP)Engine for Minimal Footprint Embedded Multimedia Systems[J].IEEE Journel on Selected areas in communciations,1999,17 91673-1706.
[34]Douglas C.schmidt,stephen,D.Huston.C++网络编程卷2:运用ACE和模式消除复杂性[M].华中科技大学出版社,2003.12.
[35]Douglas C.schmidt,stephen,D.Huston.C++网络编程卷2:基于ACE和框架的系统化复用[M].清华大学出版社,2004.02.
[36]Huang-Ming Huang,Christopher Gill.Design and Performance of Fault-Tolerant Real-time CORBA Event Serviee[J].Proeeedings of the18th Euromicro Conference on Real-time Systems,2006.
[37]OMG.CORBA服务[M].北京:电子工业出版社,2002.
[38]Freedman P.Time,Petri nets and robotics[J].IEEE Trans on Robotics and automation,1991,7(4):417-433.
[39]王环球,高金钟,许凤璋.基于Petri网的系统可靠性分析.北京轻工业学院学报.1998,16(2):87-93.
[40]Winfrid Sehneeweiss.Meantime to first failure of repairable systems with one cold spare.IEEE Trans Reliability,1995,44(4):567-574.
[41]Malhoyra M,TrvediK S.Power-hierarchy of Dependabaility-mode types.IEEE Trans Reliability,1994,43(3):493-502.
[42]James L.Peterson.Petri Net Theory and The Modeling of Systems.Prentice Hall INC,1981.
[43]C.Girault,R.Valk著,王生原 等译.系统工程Petri网建模、验证与应用指南.北京:电子工业出版社,2005.
[44]C.A.Petri.Nets,Time and space.Theoratieal ComPuter Science,153:3-48,1996.
[45]吴哲辉.Petri网导论.北京:机械工业出版社,2006,1-3.