摘要
视觉反馈冗余度机器人的实时运动规划是非常复杂的。本文将基于黑板的多智能体技术用于实时运动规划,把复杂的任务分解为若干相对独立的子任务(智能体),各智能体之间完全动态的相互协作和竞争。文中还针对视觉反馈冗余度机器人系统探讨了智能体类型和黑板的组织结构。
Real-time motion planning of an visual feedback redundant manipulator system is verycomplex. In this paper, a multi-agent based frame organized by a blackboard model isintroduced to solve the problem. The planning task is accomplished by many sub-tasks(agent) which collaborate and compete mutually in a dynamic way. In the paper, also someagent type and the structure of blackboard involved in and multi-task visual feedbackredundant manipulator system is presented.
出处
《制造业自动化》
2002年第3期41-43,52,共4页
Manufacturing Automation
基金
中国国家计委211工程资助(2102002001)
