分布式多移动机器人系统中个体控制程序设计

采用模块化方法设计分布式多移动机器人系统中的个体机器人控制程序,包括传感器及其数据处理、世界模型、决策、执行、仲裁和通信等模块.其每个传感器信息处理模块作为整个控制程序的一个子线程,独立地处理对应传感器信息后将数据送给世界模型;决策模块则由态势分析、上层策略、知识库、底层策略和动作控制策略库等子模块组成.

Individual Control Program Design for Distributed Multiple Mobile Robot System

An individual robot control program of distributed multiple mobile robot system was designed by using the module method. It includes sensor module, data processing module, world model module, decision module, execution module, arbitration module, communication module and so on. The sensor information-processing module was taken as one sub thread of the control program; the corresponding sensor information was dealt with independently and sent to world module. The decision module was constructed by condition analysis, up level strategy, knowledge base, bottom level strategy, action control strategy base module and so on.