P3DX机器人自主控制体系结构研究

Research on Mobile Robot's Self-Controlling Architecture Based on P3DX

在移动机器人自主控制程序开发当中经常会遇到以下三个困难:(1)多数机器人的处理器性能不高,运算能力有限,运行稍复杂的控制程序就显得很吃力.(2)大部分机器人控制程序是使用低级程序语言开发的,存在很大局限性.(3)人工智能理论至今仍然没有取得突破,利用人工智能实现机器人的自主控制仍然有很多问题有待解决.基于以上三点,利用高性能的P3DX工程型室内移动机器人作为平台,用Java语言开发了模仿昆虫智力的包容式自主控制体系结构,为开发高可靠性的机器人自主控制程序提供了支持.

Three issues in the robot development process are,firstly,the majority of the current performance of the robot＇s processor is not high,limited computing power or running power;secondly,most robot control program was developed with low-level programming language;and thirdly,the theory of artificial intelligence has not yet made a breakthrough.Based on issues mentioned,the Pioneer3-DX indoor mobile Robot as a platform,using Java language developed a high-level program language control framework is to benefit the development of reliable robot.