深海底采矿机器车控制软件体系结构设计与实现

Control software architecture design and realize for a deep seabed mining robot vehicle

针对深海底采矿机器车特殊工作环境和特殊工作特性,采用混合体系结构,设计了深海底采矿机器车控制软件体系结构;该结构分为规划层、控制层和执行层.机器车的作业任务被规划为一系列子目标,每个子目标有一个相应的任务监视器,负责安排一套预编程的程序以实现子目标.以行走控制子目标为例,进一步说明了所设计体系结构的可行性.最后,采用VC++语言编制程序,验证了软件体系结构的设计.

Focusing on deep seabed robot vehicleg special working environment and special working characteristics, control software architecture is designed. This architecture is organized in three layers： Planning, Control and Execution. The mission is planned with a sequence of sub-goals. Each sub-goal has a related task supervisor, responsible for arranging a set of pre-programmed task modules in order to achieve the sub-goal. In order to show the validity and feasibility of the designed architecture, nature working sub goal is analyzed as an example. At last, the design is realized in visual c＋＋ language.