摘要
针对自主移动机器人系统的设计需求提出了一种基于多智能体的混合式体系结构,统一规划了机器人系统的软硬件结构,在该体系结构中设计并实现了硬件接口、慎思式和反应式三种智能体,提出使用多样化的信息组织形式,增强了系统的自适应能力和易扩展性。在具体的物理实现上采用了基于CAN总线的控制结构,并对各组成部分给出了详细的描述。测试结果证明了本移动机器人系统设计的可行性和高效性。
A multi-agent based hybrid architecture is proposed for specific requirements of autonomous mobile robot systems, which organizes all of the software and hardware effectively, In this architecture, three kinds of agents are designed and implemented, which are hardware interface agents, deliberative agents and reactive agents. Multiform information is used and consequently enforces the adaptive and scalable abilities of the whole system. For the physical implementation, a CAN-Bus based control structure is applied, and every component is described in detail. The results show that this architecture is feasible and effective.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2004年第11期1746-1748,共3页
Systems Engineering and Electronics
