ZHANG Xin-hui, ZHU Miao-liang, WANG Xun-yu, WU Chun-ming. HIERARCHICAL DISTRIBUTED SUPERVISORY CONTROL OF AUTONOMOUS MOBILE ROBOT[J]. ROBOT, 1999, 21(6): 466-472.
Citation: ZHANG Xin-hui, ZHU Miao-liang, WANG Xun-yu, WU Chun-ming. HIERARCHICAL DISTRIBUTED SUPERVISORY CONTROL OF AUTONOMOUS MOBILE ROBOT[J]. ROBOT, 1999, 21(6): 466-472.

HIERARCHICAL DISTRIBUTED SUPERVISORY CONTROL OF AUTONOMOUS MOBILE ROBOT

  • 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.
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