基于多智能体的多机器人网络控制体系.pdf

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基于多智能体的多机器人网络控制体系.pdf

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基于多智能体的多机器人网络控制体系

32 22 2006 11 Vol.32 No.22 Computer Engineering November 2006 · · 2006 A TP24 ( 150080) Multi-agent Based Multi-robot Network Control Architecture GAO Yongsheng, ZHAO Jie, CAI Hegao (Robotics Institute, Harbin Institute of Technology, Harbin 150080) AbstractWith shared control mode, agent based network control structure of multi-telerobot system is built to implement the Internet based multi-robot tele-operation. Agent modular structure is designed to realize the public attributes such as decision-making and interaction. Then functional descriptions of agent modules are given and the interactive characters among them are clarified. On the basis of these, multi-robot tele-operation control architecture supported by agents and distributed multi-layer blackboard model is built. An experiment is designed to test the effectiveness of multi-agent based control architecture of a tele-robots system by measuring the work state of state reasoning agent. Key wordsAgent; Network architecture; Blackboard structure; Multi-robot; Tele-operation Internet [1] 3