摘要
针对未知环境下如何提高移动机器人导航控制系统的柔性和鲁棒性,分析了复杂控制系统(Complex Control System)的体系结构,以异构多Agent系统理论为基础,提出了一种可在多个层次上动态重构的控制系统设计方案,有效地增强了移动机器人的适应能力,为实现控制系统跟随任务和环境变化而动态配置提供了一条可行的途径。设计方案在移动机器人MORCS-I上得到了初步的技术验证,部分实验数据展示了重构控制的实际效果,所具有的通用性表明其亦适合应用于其他类型的复杂控制系统。
The flexibility and robustness problems for navigation control system of mobile robot under unknown environments are discussed, and the architecture of complex control system is analyzed. Based on the theory of heterogeneous multi-agent systems, an integrated design of control system is presented, which can be dynamically reconfigured on multi-layer. A feasible scheme is set out to dynamically reconfigure a control system with variable tasks and environments, and the adaptability of mobile robot is effectively improved. The experiment results on the mobile robot MORCS-I show the actual effect of reconfiguration control, and the suitability to other kinds of complex control systems.
出处
《控制工程》
CSCD
2007年第5期535-539,共5页
Control Engineering of China
基金
国家自然科学基金重点资助项目(60234030)
中南大学科学研究基金资助项目(1811-76176)
