现代电子技术Issue(20)：38-40,44,4.
基于LCM的无人水面机器人软件系统设计
Design of water surface robot software system based on LCM
摘要
Abstract
In order to meet the need of the port security,and improve the reliability and real-time performance of water sur-face robot software system for the port surveillance,a design of a robot software system based on lightweight communications and marshalling(LCM)is proposed in this paper. It can collect the all kinds of sensor parameters from water surface robot real time. The parameters can be used for the water surface robot to perform the motion control,intelligent obstacle avoidance and port security surveillance. The software system was designed on the basis of LCM. The interval programming(IvP)control model is used mainly in the aspect of behavior control.关键词
LCM/UPSV/水面机器人/IvP/实时系统Key words
LCM/UPSV/water surface robot/IvP/real-time system分类
信息技术与安全科学引用本文复制引用
管增辉,马元,栾宁..基于LCM的无人水面机器人软件系统设计[J].现代电子技术,2013,(20):38-40,44,4.基金项目
国家自然科学基金面上项目 （）
国家高技术研究发展计划（“863”计划） （）
国家高技术研究发展计划（“863”计划） （）
