适于大规模自主移动机器人的体系结构

Architecture for Large-Scale Autonomous Robot System

为解决机器人数目多时控制机器人计算量大的问题,提出一种适于大规模自主移动机器人系统的体系结构,包括系统的群体结构和系统内单个机器人的体系结构。群体结构采用有别于传统意义的混合结构,其中的递阶部分仅为任务层服务,控制信息量较少;运动层的协调由机器人自主实现。因此,该群体结构适于大量自主移动机器人组成的系统。在确定了群体结构的基础上,又提出了系统内单个机器人的体系结构,单机器人采用分层的混合结构,结合了反应式和慎思式结构的优点。整个控制结构较好地实现了机器人的运动自主性和任务合作性的有效结合。

An architecture for a large-scale robot system is proposed, including group architecture and single-robot architecture. Group architecture is a hybrid structure, but it distinguished from general hybrid structure. The hierarchical control of the architecture only serves as task level and there is little control information in whole system. The coordination of motion level is implemented by robots autonomously. This group architecture can be applied to a large-scale autonomous robot system. A layered hybrid architecture for single robot is presented and it blends the advantage of reactive structure and deliberative structure. The whole control mechanism implements the combination of robot＇s autonomous motion and efficient task coordination.