Middleware for efficient programming of autonomous mobile robots [Elektronische Ressource] / von Dirk Thomas

Dirk Thomas <[e-mail]>

Description

Middlewarefor Efficient Programmingof Autonomous Mobile RobotsVom Fachbereich Informatik derTechnischen Universität Darmstadtzur Erlangung des akademischen Grades einesDoktor-Ingenieurs (Dr.-Ing.)genehmigteDissertationvonDipl.-Inform. Dirk Thomas(geboren in Groß-Gerau)Referent: Prof. Dr. Oskar von StrykKoreferentin: Prof. Dr. Monica Reggiani(Universität Padua, Italien)Tag der Einreichung: 08.10.2010Tag der mündlichen Prüfung: 19.11.2010D17Darmstadt 2011Please cite this document asURN: urn:nbn:de:tuda-tuprints-23437URL: http://tuprints.ulb.tu-darmstadt.de/2343This document is provided by tuprints,E-Publishing-Service of the TU Darmstadthttp://[e-mail]1 Introduction 11.1 Contribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.2 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Background and State of Research 52.1 Background from Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52.1.1 Mobility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.1.2 Level of Autonomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.1.3 Platforms and Scenarios Used in This Thesis . . . . . . . . . . . . . . . . . 72.1.4 Robot Control Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92.2 Background from Software Engineering . . . . . . . . . . . . . . . . .

Sujets

• Informatik

Informations

• Publié par: technischen_universitat_darmstadt
• Publié le: 01 janvier 2011
• Nombre de lectures: 40
• Langue: English
• Poids de l'ouvrage: 9 Mo

Extrait

forMiddlewEfficientareProgramming
ofAutonomousMobileRobots

VomFachbereichInformatikder
rmstadtDaUniversitätechnischenTzurErlangungdesakademischenGradeseines
(Dr.-Ing.)r-IngenieursDoktogenehmigte

Dissertation

von

(gebDipl.-Infoorenrm.inDirkGroß-Gerau)Thomas

Referent:Prof.Dr.OskarvonStryk
Koreferentin:Prof.Dr.MonicaReggiani
Italien)adua,P(Universität

TagderTagmündlichenderEinreichung:Prüfung:19.11.201008.10.2010

D172011rmstadtDa

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Contents

1

2

3

ductionIntro1.1Contribution......................................
1.2Contents........................................

BackgroundandStateofResearch
2.1BackgroundfromRobotics..............................
2.1.1Mobility....................................
2.1.2LevelofAutonomy...............................
2.1.3PlatformsandScenariosUsedinThisThesis.................
2.1.4RobotControlSoftware............................
2.2BackgroundfromSoftwareEngineering........................
2.2.1SoftwareDesign................................
2.2.2UnifiedModelingLanguage..........................
2.2.3DesignPatterns................................
2.2.4ConceptofLibraryvs.Framework......................
2.2.5HumanComputerInteraction.........................
2.2.6SystemIntegration...............................
2.3SpecificRequirementsofAutonomousMobileRobots................
2.3.1IntegrationofElements............................
2.3.2RuntimeEfficiency...............................
2.3.3EfficientMultilevelTesting..........................
2.3.4FlexibilityandAdaptability..........................
2.3.5SophisticatedMonitoringandDebuggingMethods..............
2.3.6ExpansiontoTeamsofRobots........................
2.3.7ExistingApproachesforOfflineAnalysis...................
2.4StateofResearchMiddleware.............................
2.4.1MiddlewareinGeneral.............................
2.4.2Message-OrientedMiddleware.........................
2.4.3RoboticsMiddleware.............................
2.4.4ExistingMiddlewareforAutonomousMobileRobots............
2.4.5ComparisonandEvaluation..........................
2.5Discussion.......................................

ProposedMethodologyforEfficientMiddleware
3.1UseCasesandTheirRequirements..........................
3.1.1RestrictedOnboardResources........................
3.1.2DebuggingandMonitoring..........................
3.1.3RestrictedBandwidth.............................
3.1.4OfflineAnalysis................................
3.1.5TeamsofRobots................................

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3.2Evaluation.......................................
3.2.1BenchmarkingRuntimeEfficiency......................
3.2.2QuantifyingUsabilityandEfficiencyofDebuggingandMonitoringTools.
3.2.3Keystroke-LevelModel............................
3.2.4DefiningtheScenarios.............................
3.3ConceptsforRoboticMiddlewareInvestigatedinThisThesis............
3.3.1EfficientLocalMessageExchangeforCommonApplicationLayout.....
3.3.2IntegratedGUI.................................
3.3.3MovingFilteringDatatoPublisher-Side...................
3.3.4OfflineAnalysis................................
3.3.5ExtendingtoTeamsofRobots........................
3.3.6InfluenceonMiddlewareInterfaceDesign..................

MechanismsCommunicationEfficient4.1MessageExchangebyReference...........................
4.1.1InterfaceDesignofRoboFrame........................
4.1.2ConsecutiveExecutionofComponents....................
4.1.3EnablingDifferentStrategiesofInteraction.................
4.1.4ApplicationtoROS..............................
4.2ThrottleMessagesatPublisher............................
4.2.1ExemplaryThrottlingOptions........................
4.2.2ThrottlingatPublisher............................
4.2.3DifferentiatingMultipleSubscribers......................
4.3RecordingIntrinsicDataonRobot..........................
4.3.1IntrinsicData.................................
4.3.2Synchronization................................
4.4CommunicationBetweenMultipleRobots......................
4.5BridgingMessagesBetweenRoboFrameandROS..................

EfficientGUITools
5.1IntegratedGUI....................................
5.1.1DifferentInterfaceConcepts..........................
5.1.2WidgetToolkits................................
5.1.3DevelopedInfrastructure...........................
5.1.4FeaturesforImprovedUsability........................
5.2DevelopedGUIComponents.............................
5.2.1MeasuringExecutionTimeandFrequency..................
5.2.2GenericRuntimeParametrization.......................
5.2.3ImageViewerandImageProcessingAnalysis................
5.3ExtensiontoMultipleRobots.............................
5.3.1VisualizingtheWorldModels.........................
5.3.2ReusingSingle-AgentDebuggingTools....................
5.4SupportforTesting,DebuggingandAnalysis....................
5.4.1RecordingIntrinsicData...........................
5.4.2AttachingExternalData...........................
5.4.3Event-BasedNavigationofData.......................

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5.4.4AutomatedAnalysiswithCustomEventGeneration.............88
5.4.5AugmentingExternalVideowithIntrinsicInformationforManualReview.89
5.4.6AutomatedComparisonofCompetitiveAlgorithms.............89

91ResultsandApplications66.1Applications......................................91
6.1.1HumanoidRobots...............................91
6.1.2RescueRobots.................................91
6.1.3EmploymentinTeaching...........................92
6.1.4ApplicationinOtherInstitutes........................93
6.2LocalMessagePerformance..............................93
6.2.1MessagesinConsideredScenarios.......................93
6.2.2MeasurementofLatency............................94
6.2.3ImpactofaReal-TimeKernelunderSystemLoad..............95
6.2.4ImpactofReferencePassing..........................97
6.3RecordingofMessagesLocallyontheRobot.....................99
6.4TeamCommunication.................................100
6.4.1CommunicationonVariousLevels......................100
6.4.2OnlineObservationDuringCompetition...................101
6.5IntegratedUserInterface...............................102
6.5.1DebuggingandMonitoringTools.......................102
6.5.2ExtensiontoMultipleRobots.........................103
6.6SophisticatedAnalysisTools.............................104
6.6.1DebuggingTeamsofRobots..........................104
6.6.2AutomatedDetectionofKnownIssues....................105
6.6.3AugmentingExternalVideo..........................106
6.6.4AutomatedComparisonofCompetitiveAlgorithms.............106

Conclusion7

8Zusammenfassung(ConclusioninGerman)

Bibliography

PublicationsOwn

Contents

109

113

117

125

iii

ofListFigures

2.1Varietyofmobilerobots:PR2,Quadrotor,Matilda,Khepara,Aibo........
2.2MobilerobotsofTUDarmstadtparticipatinginRoboCup.............
2.3Structurediagramofthehardwarecomponentsofthehumanoidrobot.......
2.4Structurediagramofthehardwarecomponentsofthewheeledoff-roadvehicle..
2.5TheSense-Plan-Actcycleofarobotcontrolsoftware................
2.6Themostimportantelementsoftheautonomoushumanoidrobotsoccerapplication
withtheexchangedinformation............................
2.7Differentmethodsofsystemintegration.......................
2.8Substitutionofrealhardwarewithsimulationenablingsoftware-in-the-looptesting
2.9UserinterfaceoftheInteractionDebugger......................

3.1Overheadofmessageexchangeduetomarshaling,memorycopyanddemarshaling
3.2Thesubscriptiontoamessagebusimpliestransferringallmessages........
3.3Recordedmessagesarefedtothecontrolsoftwarebypassingseveralcomponents.
3.4Overheadwhenmessagesareinthefirstplaceskippedbythesubscriber......
3.5Measuringlatencyofmessageexchangeusingunidirectionalcommunication....
3.6Measuringlatencyofmessageexchangeusingroundtripcommunication......
3.7Avoidingoverheadofmessageexchangeduetopassingreferences..........
3.8TheCompositepattern................................
3.9TheDecoratorpattern.................................
3.10Missingflexibilitypointsforalteringtheinteractionbetweenthecomponentsand
themiddleware.....................................
3.11Reducingnumberofexchangedmessagesutilizingamessagefilter.........
3.12Throttlingamountofmessagesdirectlyatthepublisher-side............
3.13Providedmetainformationenablethepublishertoskipunneededcomputations..
3.14Visualizationofintrinsicdatafrommultiplerobots.................
3.15Flexibilitypointsbetweenthecomponentsandthemiddlewareenablealteringthe
interaction.......................................
3.16TheGatewaypattern.................................
3.17TheStrategypattern.................................
3.18Dependencyinjectionisusedtodecoupleacompone