论文标题
移动机器人的软件体系结构
Software Architectures for Mobile Robots
论文作者
论文摘要
软件体系结构定义了大型计算系统的蓝图，因此是设计和开发工作的关键部分。在移动机器人的背景下，对此任务进行了广泛的探索，从而导致了大量参考设计和实现。由于软件体系结构定义了所有组件的实现框架，因此它自然是移动机器人系统的非常重要的方面。在本章中，我们概述了特定问题域（移动机器人系统）在软件框架上强加的要求。我们讨论了当前的一些设计解决方案，提供了有关共同框架的历史观点，并概述了未来发展的方向。
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a plethora of reference designs and implementations. As the software architecture defines the framework in which all components are implemented, it is naturally a very important aspect of a mobile robot system. In this chapter, we overview the requirements that the particular problem domain (a mobile robot system) imposes on the software framework. We discuss some of the current design solutions, provide a historical perspective on common frameworks, and outline directions for future development.
