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| 自主移动机器人混合式体系结构的设计与实现 | |
| 引用本文： | 倪小雷,卜佳俊. 自主移动机器人混合式体系结构的设计与实现[J]. 计算机测量与控制, 2006, 14(11): 1526-1528 |
| 作者姓名： | 倪小雷 卜佳俊 |
| 作者单位： | 浙江大学,计算机学院,软件研究所,浙江,杭州,310027;浙江大学,计算机学院,软件研究所,浙江,杭州,310027 |
| 摘 要： | 针对以往自主移动机器人体系结构在实时处理方面的不足，提出了一种基于多智能体的混合式体系结构，统一规划了机器人系统的软硬件结构，在该体系结构中设计并实现了协调Agent和推理Agent两种智能体，针对紧急事件进行了更实时的Agent实现，有效的提高的自主移动机器人在突发事件时的实时性，提出了使用多样化的信息组织形式，增强了系统的自适应能力和易扩展性。本文的实验结果表明在紧急状态下，系统的反应时间有效缩短，增加了系统的智能性和实时性。 |
| 关 键 词： | 自主移动机器人 混合式体系结构 多智能体系统 |
| 文章编号： | 1671-4598（2006）11-1526-03 |
| 收稿时间： | 2006-03-27 |
| 修稿时间： | 2006-05-09 |
Design of Hybrid Architecture for Autonomous Mobile Robot |
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| Ni Xiaolei,Bu Jiajun. Design of Hybrid Architecture for Autonomous Mobile Robot[J]. Computer Measurement & Control, 2006, 14(11): 1526-1528 | |
| Authors: | Ni Xiaolei Bu Jiajun |
| Affiliation: | Institute of Software, College of Computer Science, Zhejiang University, Hangzhou 310027, China |
| Abstract: | A multi-agent based hybrid architecture is proposed for specific requirements of autonomous mobile robot systems , which organizes all of the software and hardware effectively. In this architecture, two kinds of agents are designed and implemented , which are harmony agents , conclusion agents, which are all high and effective agent in emergency event processing. Multiform information is used and consequently enforces the adaptive and scalable abilities of the whole system. The experiments show that the method shortens the navigation latency and improves the capacity of the system. |
| Keywords: | autonomous mobile robot hybrid architecture MAS |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |