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本文面向多移动机器人系统 ,提出了一种适合于移动机器人个体的分层式体系结构 ,包括系统监控层、协作规划层和行为控制层三个层次 .其中系统监控层主要实现人对系统的实时监控功能 ;协作规划层在与其它机器人相应层的交互过程中建立系统的分层式组织形式 ,合理快速地完成任务的分解和分配 ,实现了机器人之间的任务级协作 ;行为控制层主要采用基于行为的方法实现具体的运动控制 .该结构满足了移动机器人渐趋复杂的应用环境和日益增大的系统规模的要求 .
In this paper, a multi-mobile robot system is proposed, and a hierarchical architecture suitable for mobile robot individuals is proposed, including three levels: system monitoring layer, collaboration planning layer and behavior control layer, in which the system monitoring layer mainly realizes the real- The collaborative planning layer establishes a systematic and hierarchical organization form in the process of interaction with the corresponding layers of other robots, accomplishes the task decomposition and distribution reasonably and quickly, and achieves the task-level collaboration among the robots. The behavior control layer mainly uses Based on the behavior-based approach to achieve specific motion control, the structure satisfies the increasingly complex application environment of mobile robots and the ever-increasing requirements of system size.