自主移动机器人混合式体系结构的一种Multi-agent实现方法

Implementation of Multi-agent Based Hybrid Architecture for Autonomous Mobile Robots

  • 摘要: 提出了一种简单实用的方法,优化了基于MAS的自主移动机器人系统在紧急状态下的性能.传统的基于MAS的体系结构在处理紧急事件时系统导航延迟时间较长.该方法将传统的基于MAS的体系结构修改为混合式体系结构,定义了紧急事件集合和紧急状态集合,改进了离散事件状态模型,实现了定序器Agent.实验结果表明,这种方法缩短了系统导航延迟时间,提高了系统的智能性和安全性.

     

    Abstract: This paper presents a simple and practical method to optimize the performance of the MAS-based autonomous mobile robot under urgency.This method implements hybrid architecture by modifying the traditional MAS-based architecture,since the traditional one has large navigation latency when urgent events occur.In the modified system,a set of urgent events and states are defined,the discrete event state model is amended,and a whole mechanism with an agent,called sequencer,is introduced.Experiments show that the method shortens the navigation latency and improves the system intelligence and safety.

     

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