摘要
为了简化水下机器人的控制系统设计,实现良好的人机界面,本文提出了解耦三级递阶控制系统结构,它包括由任务脚本和任务解释器组成的任务级控制、位置/姿态级控制和执行级控制。采用这种控制结构,大大缩短了开发周期,提高了软件模块的可重用性。
In this paper, a three-level hierarchical control system is proposed for underwater robots to simplify the design process and achieve a friendly man-machine interface. This control system is composed of task-level control including mission script and mission interpreter, position/attitude-level control and execution-level control. By adopting this architecture, we have saved the time of development, and realized the reusability of software modules.
出处
《舰船科学技术》
北大核心
2005年第4期35-38,共4页
Ship Science and Technology
关键词
水下机器人
递阶控制
任务脚本
任务解释器
underwater robots
hierarchical control system
mission script
mission Interpreter
