全自主移动机器人分层递阶控制研究

Research on Hierarchical Control of Autonomous Mobile Robot

本文提出了一种基于多CPU的分层递阶控制策略,应用于全自主移动机器人的结构化设计。以分层递阶控制为核心思想的自主机器人采用智能级、协调级和执行级级连的结构,其中智能级和协调级配备独立的微处理器。实验表明,所设计的自主机器人系统具备良好的环境感知能力和控制精度,可以通过开放的VC++平台实现对机器人的控制。

A hierarchical control based on multi-processor is introduced for the structural design of the autonomous mobile robot. The hierarchical control includes three layers such as intelligence layer, coordination layer and execution layer. Independent processors are equipped in the former two layers. Experimental results demonstrate that the robot system, which can be operated by programming on the open VC＋＋ interface, has fairly high environment detecting ability and control accuracy.