通过Kubernetes提高基于ROS的多机器人系统的弹性:基于UWB的相对定位的案例研究
Jiaqiang Zhang1, Xianjia Yu1, Tomi Westerlund1
1Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, 20520 Turku, Finland.
Sensors (Basel, Switzerland)
|August 28, 2025
概括
这项研究将Kubernetes与ROS 2集成, 以实现强大的多机器人本地化. 该系统表现出对代理故障的弹性,对于基于UWB的相对定位等应用至关重要.
科学领域:
- 机器人技术
- 分布式系统
- 边缘计算
背景情况:
- 机器人操作系统 (ROS) 2被广泛采用于多机器人应用,但在异质硬件上部署是具有挑战性的.
- 紧密协调的多代理系统,如基于超宽带 (UWB) 的本地化,容易受到单代理故障的影响.
- Kubernetes提供编排功能,但需要对其与 ROS 2 的集成进行评估.
研究的目的:
- 评估基于UWB的多机器人本地化系统的 Kubernetes 与 ROS 2 的集成.
- 为了评估系统的弹性和强度对代理失败在现实世界的部署.
- 在边缘节点上使用长短期内存 (LSTM) 模块来演示UWB距离误差缓解.
主要方法:
- 一个边缘集群使用Kubernetes进行编排,包括六个NVIDIA Jetson Nano设备 (每个机器人一个) 和一台笔记本电脑.
- 在边缘节点上部署了ROS 2应用程序,包括基于LSTM的UWB距离错误缓解模块.
- 在各种边缘节点和模块组合中系统诱导故障以测试系统响应.
主要成果:
- 集成的 Kubernetes 和 ROS 2 系统表现出对单个代理和模块故障的适应性.
- 在不同的故障场景下分析位置错误,量化系统的稳定性.
- 基于LSTM的错误缓解有效地解决了多机器人设置中的UWB距离错误.
结论:
- 在复杂的多机器人系统中, Kubernetes 编排可以提高 ROS 2 应用的部署和管理.
- 拟议的系统为基于UWB的相对本地化提供了一个强大的解决方案,能够承受代理故障.
- 这种整合为先进的机器人研究和部署提供了可扩展和弹性框架.
相关概念视频
01:25Distribution Reliability and Automation
153
Distribution reliability in electrical power systems is critical for ensuring an uninterrupted power supply to consumers at minimal cost. According to IEEE Standard Terms, reliability is the probability that a device will function without failure over a specified time period or amount of usage. For electric power distribution, this translates to maintaining continuous power supply and addressing customer concerns over power outages. Several indices, as defined by IEEE Standard 1366-2012, are...
153
01:21Distributed Loads: Problem Solving
729
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
729
01:15Elastic Collisions: Case Study
14.3K
Elastic collision of a system demands conservation of both momentum and kinetic energy. To solve problems involving one-dimensional elastic collisions between two objects, the equations for conservation of momentum and conservation of internal kinetic energy can be used. For the two objects, the sum of momentum before the collision equals the total momentum after the collision. An elastic collision conserves internal kinetic energy, and so the sum of kinetic energies before the collision equals...
14.3K
01:17Rolling Resistance: Problem Solving
447
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
447
01:00Elastic Collisions: Introduction
13.1K
An elastic collision is one that conserves both internal kinetic energy and momentum. Internal kinetic energy is the sum of the kinetic energies of the objects in a system. Truly elastic collisions can only be achieved with subatomic particles, such as electrons striking nuclei. Macroscopic collisions can be very nearly, but not quite, elastic, as some kinetic energy is always converted into other forms of energy such as heat transfer due to friction and sound. An example of a nearly...
13.1K