TSDSIR:机器人系统中多业务并发的消息数据流调度  

TSDSIR:multi-service concurrent message data flow scheduling in robotic systems

作　　者：丁男 冀承慧[1] 胡创业 许力 DING Nan;JI Chenghui;HU Chuangye;XU Li(School of Computer Science and Technology,Xinjiang Normal University,Urumqi 830054,China;Key Laboratory of Intelligent Control and Optimization for Industrial Equipment,Dalian University of Technology,Dalian 116024,China;ByteDance,Beijing 100086,China)

机构地区：[1]新疆师范大学计算机科学技术学院,新疆乌鲁木齐830054 [2]大连理工大学工业装备智能控制与优化教育部重点实验室,辽宁大连116024 [3]字节跳动,北京100086

出　　处：《通信学报》2024年第8期205-220,共16页Journal on Communications

基　　金：国家自然科学基金资助项目(No.62072071,No.62262066);“十四五”国家重点研发计划基金资助项目(No.2022YFB4500800);新疆维吾尔自治区自然科学基金资助项目(No.2021D01E20)。

摘　　要：针对机器人云-边-端协同场景中所面临的多业务并发、多模态消息数据混杂等特点,基于机器人操作系统2(ROS2)中消息分发机理分析,提出了面向时间敏感属性的多消息动态调度方法。首先,根据ROS2中多话题消息流并发属性和网络实时状态,定义了消息数据优先权、最大传输时间和剩余传输时间等流调度参数,进而对待调度的流队列状态进行实时表征。其次,设计了包含时间优先和优先权优先的混杂切换调度模型,并结合流调度参数给出调度切换规则及理论边界条件。最后,提出了ROS2中面向时间敏感属性的多消息动态调度方法,并在其数据分发服务层中集成应用。仿真实验与实际应用验证表明,所提方法能提升ROS2中多消息流并发传输效率,同时保障高优先级的、具有时间敏感属性的消息数据实时可靠传输。Aiming at the characteristics of multi-service concurrency and multi-modal message data mixing faced in the robot cloud-edge-end collaboration scenarios,a multi-message dynamic scheduling method oriented to time-sensitive attributes was proposed based on the analysis of the message distribution mechanism in the robot operating system 2(ROS2).Firstly,scheduling parameters,including message priority and transmission times,were defined based on multi-topic concurrency and real-time network state in ROS2,enabling real-time queue state characterization.Then,a hybrid time/priority scheduling model was designed with specific switching rules and boundary conditions.Finally,the dynamic scheduling method,considering time sensitivity,was integrated into ROS2's data distribution service layer.Simulation experiments and practical applications verify that the proposed method can improve the efficiency of concurrent transmission of multiple message streams in ROS2,and at the same time guarantee the real-time reliable transmission of high-priority message data with time-sensitive attributes.

关 键 词：机器人操作系统2 数据分发服务 时间敏感属性 混杂切换 多消息流调度 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]