自主式移动机器人的递阶分布式监控
HIERARCHICAL DISTRIBUTED SUPERVISORY CONTROL OF AUTONOMOUS MOBILE ROBOT
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摘要: 本文提出面向任务集成的自主式移动机器人体系结构,组成一个由分布式黑板协调和组织的多智能体系统,具有自组织、自适应的特点.应用离散事件系统的监控理论,建立单个智能体的DES模型,给出其满足一定运行指标的监控器,并证明整个系统的可控性.Abstract: The task oriented integration architecture of autonomous mobile robot is presented in this paper, and the architecture is a multi agent system coordinated and organized by distributed blackboard and is self organic and self adaptive. Using the DES supervisory theory, the DES model and supervisor meeting some running guideline of basic agent is given, and the controllability of the whole system is proved.