摘要
针对机器人协作系统中任务协作和运动协调的两个过程 ,考虑机器人自主性和协作性的要求 ,设计一种分层的机器人控制体系结构 ,其中包括协作规划层、协调规划层和行为控制层。该控制体系采用分层、模块式结构 ,有利于功能的扩充。
A layered architecture of robotic control system in MRCS (Multi-Robot Cooperation System) was designed. In accordance with the process of task cooperation and motion coordination in MRCS, this architecture was divided into three layers: cooperation-planning layer, coordination-planning layer and behavior-control layer. This architecture can meet the demand of MRCS, and is easy to expand functions.
出处
《控制与决策》
EI
CSCD
北大核心
2000年第3期325-328,共4页
Control and Decision
关键词
机器人
控制体系
多机器人协作系统
MRCS
architecture of robotic control system, layered architecture, multi-robot cooperation system
