中文摘要：

研究了多层次、松耦合网络系统框架结构下的移动机器人和典型辅助资源常用功能开发与应用技术.在机器人系统中间件的基础上,设计采用了包含运行管理层、Web客户层和节点控制层的三层框架结构.通过分析网络化移动机器人系统的运行管理机制,设计了运行管理层的具体结构和功能模块.围绕室内移动机器人定位导航的具体应用,测试了系统平台的运行过程,验证了网络化移动机器人系统的可行性和实用性.

英文摘要：

The common function development and application technology of mobile robot and typical auxiliary resources were studied under the multi-level and loose coupling network system structure. On the basis of the robot system middleware,three layers framework structure was designed including operation management layer,Web client layer and node control layer.Through the analysis of man-agement mechanism of networked mobile robot system,the structure and function of operation man-agement layer were designed.On the background of indoor mobile robot navigation and localization application,the system platform running processes were tested which verify the feasibility and practi-cability of the networked mobile robot system.