中文摘要：

针对港口安全的需要，为了提高监视港口安全的水面机器人软件系统的可靠性与实时性，提出了基于LCM的改进的机器人软件系统设计。它可以实时采集水面机器人各传感器参数，然后利用收集到的参数进行UPSV自身的运动控制，实现智能避障，监测港口安全等功能。在数据采集与通信方面，这套软件系统是基于LCM进行设计的；在行为控制方面，对其进行了改进，主要采用的是IvP控制模型。

英文摘要：

In order to meet the need of the port security,and improve the reliability and real-time performance of water sur-face robot software system for the port surveillance,a design of a robot software system based on lightweight communications and marshalling（LCM）is proposed in this paper. It can collect the all kinds of sensor parameters from water surface robot real time. The parameters can be used for the water surface robot to perform the motion control,intelligent obstacle avoidance and port security surveillance. The software system was designed on the basis of LCM. The interval programming（IvP）control model is used mainly in the aspect of behavior control.