移动机器人路径规划中ROS2中间件性能的研究综述

A Review of the Performance of ROS2 Middleware in Mobile Robot Path Planning

摘要: 随着移动机器人在工业自动化、特种作业及智能服务领域的广泛应用，其路径规划能力越来越依赖机器人操作系统ROS2的通信性能。ROS2通过去中心化架构与数据分发服务中间件显著提升了系统可靠性，但动态复杂环境中路径规划对通信延迟、带宽及稳定性的严苛要求，使中间件性能成为影响实时规划精度的关键瓶颈。近年来针对DDS、Zenoh等中间件的优化研究大量涌现，但仍缺乏对多协议多场景性能指标的跨维度系统性总结。本文综述了近年来核心研究成果，深入剖析了ROS2中间件从通用架构向场景定制化设计的转型趋势；论证了路径规划与通信服务质量的深度耦合机制；总结了嵌入式协同与边缘智能的系统级优化机制。文末提出了目前研究还存在的一些问题。

Abstract: With the wide application of mobile robots in industrial automation, special operations and intelligent services, their path planning capabilities are increasingly dependent on the communication performance of the Robot Operating System (ROS2). ROS2 has significantly enhanced system reliability through a decentralized architecture and Data Distribution Service (DDS) middleware. However, the strict requirements for communication delay, bandwidth and stability in dynamic and complex environments for path planning have made middleware performance a key bottleneck affecting real-time planning accuracy. In recent years, a large number of optimization studies on middleware such as DDS and Zenoh have emerged, but there is still a lack of cross-dimensional systematic summaries of performance indicators for multiple protocols and scenarios. This paper reviews the core research achievements in recent years, deeply analyzes the transformation trend of ROS2 middleware from a general architecture to scenario-customized design; demonstrates the deep coupling mechanism between path planning and communication quality of service; and summarizes the system-level optimization mechanisms of embedded collaboration and edge intelligence. At the end of the paper, some existing problems in current research are proposed.