软件设计模式在移动机器人控制系统中的应用

介绍了软件设计模式的基本概念和主要特点。分析了已有移动机器人平台控制系统的功能需求,阐述了总线模式的结构及实现机制。运用总线模式设计了机器人控制系统,并在QNX平台下使用标准C++完成了该控制系统的实现。设计实现的控制系统结构合理,具有很强的实时性、可靠性和可扩展性。

Basic conception and main characteristic of software design pattern is introduced. Function requirement of existing mobile robot control system is analyzed. Framework and realization mechanism of data bus pattern is described. The robot control system is designed with data bus pattern and realized with standard C++ in operating system of QNX. Realized control system with reasonable construction shows good performance in real time, reliability and expansibility.

国家863计划资助项目(2005AA404290-1)