基于异构Agent的移动机器人体系结构设计

采用Agent技术设计并实现了一个移动机器人的分布式控制系统. 移动机器人的体系结构包含了慎思层、控制层与协调层, 由多个异构Agent完成相应功能. 动态局部规划根据激光雷达的环境"快照"信息来确定局部反应行为. 慎思规划采用逆向D*算法, 通过搜索脱离点来避免在复杂环境下陷入局部势能陷阱. 慎思层与控制层分别由低工耗工控机实现, 组成异构分布控制系统. 该体系结构综合了控制的实时性与复杂环境下的适应性. 开放的硬件平台与软件Agent结构提供了一种具有良好扩展性的智能移动机器人设计范式.

Design of an architecture based on heterogeneous agent for mobile robot

A distributed control system based on heterogeneous agent for mobile robot was described.The system architecture combines three layers including deliberative layer,reactive control layer and coordination layer,and adopts multiple heterogeneous agents to implement corresponding function distributed in different control systems.The information of the instantaneous environmental snap from a laser scanner is used to control the mobile robot dynamically in unknown environment in local planning,while reversed D~* algorithm is adopted to search the leave point for avoiding local minimum trap in deliberative planning.Deliberative layer and control layer are implemented by heterogeneous and distributed control system with two low power-(consuming) industrial control computers.This system architecture realizes the real time of reactive control and the adaptability of deliberative planning in complex environment.Open hardware platform with software Agent architecture has a good scalability and provides a paradigm for mobile robot design.