Reliable Communication Mechanism Design for Interaction Between Android and ROS
文献类型：会议论文
| 作者 | Tan, Jindong1 ; Wei, Hongxing1; Shao, Zhenzhou4; Li, Mengnan4; Qu, Ying3; Song GL(宋国立)2; Guan Y(关永)4
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| 出版日期 | 2018 |
| 会议日期 | July 19-23, 2018 |
| 会议地点 | Tianjin, China |
| 页码 | 1496-1501 |
| 英文摘要 | There exists a wide application prospect in the interaction between the android system and ROS (Robot Operating System). Google and Willow Garage have developed the android_core package based on rosjava to build a ROS environment in the android system. However, the current mechanism cannot guarantee the reliable communication. This paper proposes two fundamental approaches to solve above problem. On the one hand, a communication anomaly detection module CheckNodeConnection in the application layer of the TCP/IP protocol is designed to detect the connection anomaly of network. On the other hand, we develop a communication mechanism called RosActionOnAndroid on the android system inspired by the "ROS Action Protocol" in ROS. The experimental results show that CheckNodeConnection can effectively detect the connection state between android and ROS, and RosActionOnAndroid communication mechanism can obtain the task execution status feedback of the ROS robot and support the preemptable task, which make the interactive control more accurate and reliable. |
| 源文献作者 | IEEE Robotics & Automation Society |
| 产权排序 | 3 |
| 会议录 | Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-5386-7056-9 |
| WOS记录号 | WOS:000468941800264 |
| 源URL | [http://ir.sia.cn/handle/173321/24695]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Qu, Ying |
| 作者单位 | 1.Beihang University, School of Mechanical Engineering and Automation, Beijing 100191, China 2.Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110015, China 3.Engineering College, University of Tennessee, Knoxville, TN 37996, United States 4.Beijing Key Laboratory of Light Industrial Robot and Safety Verification Capital Normal University, College of Information Engineering Beijing Advanced Innovation Center for Imaging Technology, Beijing, 100048, China, China |
| 推荐引用方式 GB/T 7714 | Tan, Jindong,Wei, Hongxing,Shao, Zhenzhou,et al. Reliable Communication Mechanism Design for Interaction Between Android and ROS[C]. 见:. Tianjin, China. July 19-23, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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