移动机器人远程人机交互软件平台设计与实现

摘要

基于移动机器人代替人去危险场合执行探测和救援任务的应用背景,设计了一个人机交互的软件平台;采用UML对设计过程进行建模,基于组件对系统进行模块化设计;各组件并行运行,通过消息队列与消息响应的机制实现组件之间的并发式通信;软件平台基于LabVIEW的Actor框架实现,核心Actor组件基于状态机设计,协调其它组件之间的通信;设计了一个远程Actor代理,实现与基于ROS的远程机器人的本地控制系统通信,将人的指令传输给机器人并将机器人的传感信息传回给人机界面;实验系统部署在两台计算机上,一台运行基于LabVIEW的人机界面,另一台运行基于ROS的P3 AT控制仿真系统;实验表明,设计的软件平台各部分能够协同工作,人机交互自然顺畅,满足预期要求.%A software platform for Human Robot Interaction (HRI) is designed and implemented based on the application background of mobile robot for inspection and rescue tasks,replacing human beings in hazardous areas.The design process of the software is modeled with UML and the design is based on modular components;the components work in parallel and communicate concurrently through queued message-response mechanism.The software platform is implemented with LabVIEW Actor Framework,in which the main Actor is designed with state machine in order to coordinate communication among components;a remote proxy Actor is designed to bridge the communication of ROS-based control system of the remote robot with the software platform,that is to send instructions from human to robot and to receive data back from sensors.The experimental system is deployed on two computers:one running the LabVIEW-based HRI software,and the other running the ROS-based simulation software of P3AT control system.Experiments show that the components of the software platform work together properly,and the interaction is natural and smooth between the human operator and the remote robot.The result meets the expectations.