대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2002년도 하계학술대회 논문집 D
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- Pages.2410-2414
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- 2002
차세대 퍼스널 로봇 소프트웨어 프러임워크에 관한 연구
Toward the Personal Robot Software Framework
- Kim, Hong-Ryeol (Department of Information Control Engineering, Hyongji University) ;
- Kim, Dae-Won (Department of Information Control Engineering, Hyongji University) ;
- Kim, Hong-Seok (KITECH) ;
- Lee, Ho-Gil (KITECH)
- 발행 : 2002.07.10
초록
In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design center platform as proposed in this paper with its implementation mechanisms. The personal robot design center is defined as a developing and a managing environment for high-level behavior modules, distributed tasks, and mission scenarios.
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