多移动机器人系统个体控制体系结构

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．

INDIVIDUAL CONTROL ARCHITECTURE FORMULTIPLE MOBILE ROBOT SYSTEM

The paper proposes a layered architecture for individual robot in multiple mobile robot system. The architecture is composed of three layers: system-monitoring, cooperation-planning, and behavior-control layers. System-monitoring layer is to provide operators the real-time way to monitor the system; cooperation-planning layer is used to establish the layered organization, reasonably and rapidly decompose and allocate the task, thus achieve the task-level cooperation during the interaction with the counterpart of other robots; behavior-control layer mainly adopts the behavior-based approach to implement the motion control. The architecture meets the needs of more and more complex applications and increasing system scales.