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Mobile robot autonomous navigation software framework and navigation method

A mobile robot and autonomous navigation technology, applied to navigation computing tools, instruments, motor vehicles, etc., can solve problems such as lack of underlying functions

Pending Publication Date: 2020-10-27
中国兵器科学研究院 +1
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Problems solved by technology

The National Institute of Standards and Technology (NIST) developed a real-time control system (RCS) software library based on the real-time control system reference model, which can be used for the design of real-time intelligent systems. Inter-communication, so from the perspective of implementation, it is a communication middleware, which lacks the necessary underlying functions and cannot be called a software framework

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  • Mobile robot autonomous navigation software framework and navigation method
  • Mobile robot autonomous navigation software framework and navigation method
  • Mobile robot autonomous navigation software framework and navigation method

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Embodiment Construction

[0043] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0044] Such as figure 1 As shown, the mobile robot software framework based on multithreading is divided into five levels. From top to bottom, it is divided into five layers: user interface layer, autonomous navigation layer, system monitoring layer, device layer and underlying application layer.

[0045] 1. The user interface layer realizes the interaction with the user through the communication module, including obtai...

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Abstract

The invention relates to a mobile robot autonomous navigation software framework and a navigation method. The software framework is divided into a user interface layer, an autonomous navigation layer,a system monitoring layer, an equipment layer and a bottom application layer. Each functional module operates according to an independent thread, and data interaction is carried out between the modules in a memory sharing mode. The software framework separates a sensing module, a planning module and an execution module, and can adapt to platforms in different driving forms, different sensor configurations and different tasks. Common abstract interfaces such as maps, paths, classifiers, tasks and path planners in a navigation system are defined in a standardized mode, and a common coordinate system and data structures related to sensors and functional modules are defined. The bottom application layer realizes thread, mathematical operation, log and hardware interface access; and the equipment layer realizes definition and basic operation of the functional modules, realizes a data acquisition function of common equipment, has relatively complete underlying functions, and can support agile development.

Description

technical field [0001] The invention relates to the technical field of mobile robot control, in particular to a mobile robot autonomous navigation software framework and a navigation method. Background technique [0002] In order to improve the "starting point" of software development, speed up development, and improve product quality, framework-based development has become a common phenomenon. It is very common for a project to use one or more third-party frameworks. For example, Swing, .NET, and MFC are all popular frameworks. [0003] Conceptually, a framework is an instantiable, partially-completed software system that defines an architecture for the system, raises the basic building blocks from which the system is constructed, and defines points of adjustment for implementing specific functionality. From an implementation point of view, a framework is a set of abstract classes that define their respective responsibilities and mutual collaboration to form a reusable des...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/024G05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/0276G01C21/20
Inventor 杨甜甜苏治宝
Owner 中国兵器科学研究院
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