データ変換に着目したミドルウェアモデルを用いた移動ロボット向けフレームワークの開発

抄録

We are currently developing an Operation-based middleware (OBM) model. This paper describes a sample design model of the mobile robot navigation system using the OBM. In OBM, input-output functions without any states are focused as the unit modules of the distributed software system development for robots. In order to confirm the sufficiency of the OBM model, we designed a mobile robot navigation system. As the result, the needs for the generic functionalities of switching the execution of operations are found out.