Integration Software for a Distributed Group of Mobile Service Robots

摘要

This article describes the study of the problems of testing and integration of the group of mobile service robots (Amur-307 type) hardware and software complex using the virtualization support library. The architecture of the software solution and its features, that simplify integration testing and speed up debugging of compilation and reliability errors are described. An approach to emulation of hardware, sensors and electric driver of robots with manipulators specific to this software and hardware complex is also outlined, which allows creating a complete virtual analogue of it and speeding up software development (especially in terms of routing a robotic complex) using unit tests.