摘要
根据移动机器人的控制要求设计实现一个基于分布式无线网络条件下的多移动机器人控制系统。采用多节点连接方式的网络拓扑结构将多个机器人或其它设备连接组成机器人控制网络。机器人控制采用分层递阶的结构,并根据网络控制系统的特点和要求特别是在时延的特点上进行优化。控制系统实现了一定的自主决策并能体现出一定的智能性。通过对不同网络条件下机器人控制过程的时延进行了测试,根据实际实验数据分析评价了分布式无线网络控制系统的可行性与实际控制效果。
A designed network control system of multi mobile robot is presented. It is based on wireless distribution system. One or more mobile robot and some other devices are connected via wireless network to form a network control system. More than one wireless node is provided in order to realize distribution wireless network and extend the coverage range. The hierarchy control structure is used in the robot control system. It is optimized by the features of the network control system especially in time delay. The control system is capable of autonomous decision in some condition. By testing the time delay in different network environment,the performance of the whole control system can be proved.
出处
《机械设计与制造》
北大核心
2009年第10期192-194,共3页
Machinery Design & Manufacture
基金
国家科技部863项目(2007AA041604)
关键词
网络控制系统
分布式无线网络
多机器人控制
分层递阶结构
Network control system
Wireless distribution network
Multi-robot control
Hierarchy control structure
