计算机工程
計算機工程
계산궤공정
COMPUTER ENGINEERING
2014年
2期
153-158
,共6页
刘鑫%于振中%郑为凑%惠晶
劉鑫%于振中%鄭為湊%惠晶
류흠%우진중%정위주%혜정
体系结构%多智能体技术%多移动机器人%遥操作%远程监控系统
體繫結構%多智能體技術%多移動機器人%遙操作%遠程鑑控繫統
체계결구%다지능체기술%다이동궤기인%요조작%원정감공계통
architecture%multi-Agent technology%multi-mobile robot%teleoperation%remote monitoring system
针对多机器人远程监控系统信息错综复杂、协作不稳定的问题,建立基于多智能体(Multi-Agent)技术的系统体系结构,描述系统各组件之间的信息交互关系,优化人-机智能分配。分析系统物理结构的特点,提出一种基于 Multi-Agent 技术的共享控制系统分层体系结构,结合黑板结构和点对点结构,给出 Multi-Agent 的混合通信模型。针对遥操作系统的特点,设计一种混合型Agent 体系结构,举例研究 Agent 的实现方法。通过多操作者控制机器人保持队形的实验,验证了该混合型 Agent 体系结构的实用性和有效性。
針對多機器人遠程鑑控繫統信息錯綜複雜、協作不穩定的問題,建立基于多智能體(Multi-Agent)技術的繫統體繫結構,描述繫統各組件之間的信息交互關繫,優化人-機智能分配。分析繫統物理結構的特點,提齣一種基于 Multi-Agent 技術的共享控製繫統分層體繫結構,結閤黑闆結構和點對點結構,給齣 Multi-Agent 的混閤通信模型。針對遙操作繫統的特點,設計一種混閤型Agent 體繫結構,舉例研究 Agent 的實現方法。通過多操作者控製機器人保持隊形的實驗,驗證瞭該混閤型 Agent 體繫結構的實用性和有效性。
침대다궤기인원정감공계통신식착종복잡、협작불은정적문제,건립기우다지능체(Multi-Agent)기술적계통체계결구,묘술계통각조건지간적신식교호관계,우화인-궤지능분배。분석계통물리결구적특점,제출일충기우 Multi-Agent 기술적공향공제계통분층체계결구,결합흑판결구화점대점결구,급출 Multi-Agent 적혼합통신모형。침대요조작계통적특점,설계일충혼합형Agent 체계결구,거례연구 Agent 적실현방법。통과다조작자공제궤기인보지대형적실험,험증료해혼합형 Agent 체계결구적실용성화유효성。
According to the problem of multi-robot intricate and multi-robot collaboration unstable for remote monitoring system of multi-mobile robot, a system architecture based on multi-Agent technology can be established to optimize the man-machine intelligence allocation and to give a clear description of the various components of the system. By the analysis of the physical structure of the system, the architecture of hierarchical system based on share control mode of multi-Agent is proposed and a mixed communication model of multi-Agent combining the blackboard architecture and peer-to-peer structure is designed. According to the characteristics of the teleoperation system, a hybrid Agent architecture is designed. An example of the realization of the Agent is given, and an experiment that multi-operator keep robots controlled in line is designed to verify the effectiveness of the hybrid Agent architecture.