高技术通讯（英文版）2005，Vol.11Issue(2)：183-188,6.
Design and implementation of an IPC-based control system for mobile robots
Design and implementation of an IPC-based control system for mobile robots
摘要
Abstract
This paper introduces an autonomous mobile robot system applicable under dynamicenvironment. Every robot contains a multi-sensor system, a differential-drivevehicle and a wireless LAN. A real-time on-board control system makes decision autonomously according to the perception from the multi-sensor system. Under the Windows operation system (OS), inter-process communication (IPC) mechanism of Linux OS is introduced into control system design. A distributed software architecture based on IPC, which can be used for multiple mobile robots system, is proposed. The architecture can make the system more flexible and scalable. The expansion of robot's function and cooperation between robots can be easily realized. The experiments and robot soccer game show the validity of the architecture.关键词
autonomous mobile robot/IPC/dynamic environmentKey words
autonomous mobile robot/IPC/dynamic environment引用本文复制引用
Jia Jianqiang,Chen Weidong ,Xi Yugeng..Design and implementation of an IPC-based control system for mobile robots[J].高技术通讯（英文版）,2005,11(2):183-188,6.基金项目
Supported by the High Technology Research and Development Programme of China (No.2001AA422200 （）
2001AA422140) and the National Natural Science Foundation of China (No.60105005). （No.60105005）
