基于ROS和QoS的云机器人研究  

Research on Cloud Robot Based on ROS and QoS

作　　者：张伟[1] 郝丽娜[1] 程红太[1] 高乾 ZHANG Wei;HAO Lina;CHENG Hongtai;GAO Qian(School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《机械与电子》2020年第7期63-70,共8页Machinery & Electronics

基　　金：国家自然科学基金项目(U1613205);中央高校基础研究基金项目(N18240007-2);国家自然科学基金面上项目(20180520003)。

摘　　要：针对在云机器人系统中,机器人端和云端之间消息需要转换格式才能传递,对异构机器人的兼容性较差,并且对网络环境的鲁棒性有待提高的情况,提出了基于ROS并只在本地端部署主节点的云机器人系统CloudROS。首先,本地和云端的服务均采用标准的ROS节点形式进行封装,云端的服务节点可以动态加入到机器人端的ROS网络,节点之间的消息格式无需进行转换,提高了系统的兼容性;然后,在云端采用了授权认证和Docker虚拟化技术,保证了系统的安全性;最后,提出了服务质量(QoS)监测与调节策略,通过动态调整任务参数或切换本地与云端的服务,使QoS保持一个较优的值。实验结果表明,CloudROS可以有效地把机器人的计算任务卸载到云端,使机器人的性能得到提升,并对网络环境具有较好的鲁棒性。At present,in many cloud robot systems,the message between the robot and the cloud needs to be transformed to transmit,the compatibility with heterogeneous robots is weak,and the robustness to the network environment needs to be improved.First,the local and cloud services are encapsulated in the form of standard ROS nodes.Therefore,this paper proposes a cloud robot system CloudROS based on ROS(robot operation system)and only deploy the master node on the local side.The cloud service nodes can be dynamically added to the robot’s ROS network.The message format between nodes does not need to be converted,which improves the compatibility of the system.Then,authorization authentication and docker virtualization technology are used in the cloud to ensure the security of the system.Finally,a quality of service(QoS)monitoring and adjusting strategy is proposed.By dynamically adjusting the task parameters or switching the local and cloud services,QoS can be kept at a better value.The experimental results show that CloudROS can effectively unload the computing tasks of the robot to the cloud,improve the performance of the robot,and have excellent robustness to the network environment.

关 键 词：云机器人 ROS 服务质量 服务调度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]