ОБЪЕКТНО-ОРИЕНТИРОВАННЫЙ ПОДХОД К ОПИСАНИЮ ВЗАИМОДЕЙСТВИЯ ГРУППЫ РОБОТОТЕХНИЧЕСКИХ СРЕДСТВ НА ОСНОВЕ РАСПРЕДЕЛЕННОЙ ВИРТУАЛЬНОЙ МАШИНЫ

Abstract

The robotic systems building approaches is analyzed in this paper. Robotics systems can beconsidered as a distributed system which interacted between individual components of the roboticsystem and interacted between robotic systems within a single complex. In first case a roboticsystem can be a collection of individual modules within a single robot. For example, individualmotors, servo drives for camera control, and the camera itself control of the unmanned aerialvehicle (UAV) can be considered as separate modules of the entire UAV within a distributed roboticsystem. In second case robotic system devoted to a massive of connected robotic system. Forexample, each UAV is a robotic system which is a part of whole robotic system that define UAVgroup interaction. An approach that allows a unified way to describe such robotic systems hierarchyis needed. In the field of robotics systems, there are many approaches to building it, which definesthe means of communication and data transfer. This paper describes the existing approaches,their advantages and disadvantages, and suggests another approach for creating distributed roboticsystems. Each nodes network connection in the existing approaches is provided by transferring datawith their subsequent processing The article describes an approach based on the encapsulation ofexecutable code in transmitted network packets. The object interaction is carried out through thecontrol data transfer that interpreted by a distributed virtual machine. The object-oriented programming(OOP) paradigm extension by the concept of a complementary object, allows to create a distributedsystem that abstracted from the network programming difficulty. An object-oriented approachbased on complementary object usage allows to develop a distributed system as a single program,concentrating on the implementation of logic. So we passing from the distributed system as animplementation of separate modules concept to the single distributed program concept without a“syntax breaking”.The proposed approach allows to represent a distributed robotic system in theOOP paradigm as a set of objects interacting over a communication network.