中文摘要：

针对现有实验移动机器人平台方案的不足，提出低成本的开源设计构架．分别基于开源硬件模块Arduino和开源跨平台软件包Qt搭建上位机和下位机；提出可靠、高效、功能扩展灵活的通信规约，并基于不同的软硬件环境分别在上位机和下位机实现规约通信包的解析．该方法可帮助移动机器人研究团队快速搭建实验机器人平台并验证理论算法及研究成果；所使用的软硬件均开源，可免费用于科研．

英文摘要：

To avoid drawbacks of existing solutions to experimental mobile robot platform, a low-cost open-source framework is proposed. A host computer and a slave machine are developed based on the open-source hardware module Arduino and the cross-platform software package Qt, respectively. A reliable, efficient and scalable communication protocol is proposed. The communication package is parsed on the host computer and the slave machine respectively due to their different software and hardware environments. The solution can facilitate experimental platform design and algorithm demonstration for mobile ro- bot research groups. The hardware and software employed in the solution are open-source and can be used in scientific research for free.