摘要
基于4D/RCS的多移动机器人Hierarchy-Agent协调控制系统分为指挥和任务两层。指挥层的指挥Agent负责任务规划和地图生成/分析。任务层的任务Agent完成特定任务,根据多任务规划改变各层Agent数目及功能。Agent间通过有线/无线通信信道交互,完成环境感知、运动协调及运动规划。
Hierarchy-Agent coordination control system for multiple mobile robots based on 4D/RCS is divided into two parts of multi-task layer and task layer. The command agents in command layer are responsible for task planning and map generation/analysis. The task agents in task layer accomplish given task, The agent number and functions of each task layer is changed according to various task planning. The interactive communication among agents is implemented through wired/wireless communication channel. The environment perception, motion coordination and motion planning is realized by the system.
出处
《兵工自动化》
2005年第4期11-13,共3页
Ordnance Industry Automation
基金
国家自然科学基金资助项目(69974017&60274020)
