自重构机器人团队控制系统的开发

Development of Control System in Self-Configurable Robots

本文旨在解决自重构机器人团队控制问题,基于多智能体技术,构造了机器人团队的控制系统,采用黑板结构设计了团队的主控系统,用于实现团队的协作和寻优,采用反应式主体设计了机器人机载控制系统,用于实现机器人的实时控制,实验表明该设计既能够满足了机器人实时性的要求,又能够实现多机器人协调、合作及系统寻优。

This paper purpose resolving the control problem of the group of Self-configurable Robots , based on MA, the structure of control system has been constructed, a blackboard system has been used in the main control system for achieving the coordination, cooperation and optimization of the group, and a reactive agent has been used in the control system of a Self-configurable Robot for achieving its real time control. Experiments have indicated that this design can achieve not only the demand of real time contr...