Android与ROS交互通信的可靠性设计  

RELIABILITY DESIGN OF INTERACTIVE COMMUNICATION BETWEEN ANDROID AND ROS

作　　者：李梦男 邵振洲 渠瀛[3] 施智平[1,4] 关永 魏洪兴[5] Li Mengnan;Shao Zhenzhou;Qu Ying;Shi Zhiping;Guan Yong;Wei Hongxing(College of Information Engineering,Capital Normal University,Beijing 100048,China;Beijing Key Laboratory of Light Industrial Robot and Safety Verification,Beijing 100088,China;Beijing Advanced Innovation Center for Imaging Technology,Beijing 100048,China;Engineering College,The University of Tennessee,Knoxville 37996,TN,USA;School of Mechanical Engineering and Automation BUAA,Beihang University,Beijing 100083,China)

机构地区：[1]首都师范大学信息工程学院,北京100048 [2]轻型工业机器人与安全验证北京市重点实验室,北京100088 [3]田纳西大学工程学院,诺克斯维尔37996 [4]成像技术北京市高精尖创新中心,北京100048 [5]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《计算机应用与软件》2018年第3期106-113,共8页Computer Applications and Software

基　　金：国家自然科学基金项目(61572331;61472468;61602325;61373034);国家科技支撑计划项目(2015BAF13B01);国际科技合作计划项目(2011DFG13000);北京市教委科研计划一般项目(KM201710028017);北京市教委科研基地建设项目(TJSHG201310028014);北京市科委项目(Z141100002014001);北京市属高等学校创新团队建设与教师职业发展计划项目(IDHT20150507);北京市优秀人才培养资助青年骨干个人项目(2014000020124G135)

摘　　要：目前,Google和Willow Garage已经为Android系统构建ROS(Robot Operating System)环境提供了基于rosjava的应用功能包集合android_core,便于Android移动终端和ROS进行互联互通。然而,当前的通信机制不能保证Android应用对基于ROS的机器人进行可靠的远程控制。为解决上述问题,从ROS中的应用层和通信机制两方面对ROS进行完善。一是在ROS端TCP/IP协议的应用层设计通信异常检测模块"Check Node Connection"来进行Android移动终端的连接状态检测;二是在Android端设计与ROS中"ROS Action Protocol"相匹配的通信机制"Ros Action On Android"。实验结果表明,设计的通信异常检测模块"Check Node Connection"可以高效地检测Android与ROS间的连接状态。此外,"Ros Action On Android"通信机制可时刻获取ROS机器人在任务执行中的状态反馈信息并支持任务抢占,使得交互控制更加精准可靠。At present,Google and Willow Garage have provided the rosjava based application function package collection android_core for the Android system to build the ROS(robot operating system)environment,which facilitates the connection between the Android mobile terminal and the ROS.However,current communication mechanisms do not guarantee reliable remote control of ROS-based robots by Android applications.In order to solve the above problems,this paper improved the ROS from the application layer and communication mechanism in ROS.One was to detect the connection state of Android mobile terminal via application layer design communication Anomaly detection module“CheckNodeConnection”at the TCP/IP protocol of the ROS end.Another was to design a“RosActionOnAndroid”communication mechanism that matches the“ROS Action Protocol”in the Android side.The experimental results showed that the communication abnormality detection module“CheckNodeConnection”designed in this paper effectively detected the connection state between Android and ROS.In addition,the“RosActionOnAndroid”communication mechanism could always obtain the status feedback information of the ROS robot in the task execution and support the task preemption,so that the interactive control was more accurate and reliable.

关 键 词：ROS ANDROID Rosjava TCP/IP 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]