[1]文巨峰,罗翔,颜景平,等.基于多智能体的智能机器人分布式控制系统[J].东南大学学报(自然科学版),2003,33(1):53-56.[doi:10.3969/j.issn.1001-0505.2003.01.013]
　Wen Jufeng,Luo Xiang,Yan Jingping,et al.Multi-agent based distributed control system for intelligent robots[J].Journal of Southeast University (Natural Science Edition),2003,33(1):53-56.[doi:10.3969/j.issn.1001-0505.2003.01.013]
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基于多智能体的智能机器人分布式控制系统()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
33
期数:
2003年第1期
页码:
53-56
栏目:
自动化
出版日期:
2003-01-20

文章信息/Info

Title:
Multi-agent based distributed control system for intelligent robots
作者:
文巨峰1;  罗翔1;  颜景平1; 周骥平;  朱兴龙2
1 东南大学机械工程系, 南京 210096; 2 扬州大学机械工程学院, 扬州 225000
Author(s):
Wen Jufeng1;  Luo Xiang1;  Yan Jingping1;  Zhou Jiping2;  Zhu Xinglong2
1 Department of Mechanical Engineering, Southeast University, Nanjing 210096, China
2 College of Mechanical Engineering, Yangzhou University, Yangzhou 225000, China
关键词:
机器人;  多智能体技术;  体系结构;  CORBA
Keywords:
robot;  multi-agent;  architecture;  CORBA
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2003.01.013
摘要:
在研究多智能体技术基础上,提出了一种基于分布式黑板和多智能体系统的类人智能机器人控制系统体系结构,并根据系统要求规划出具有不同功能的多个智能体.系统地分析了该控制系统中各个智能体的功能特点以及它们之间的协作关系.以运动控制接口的编制为例,介绍了CORBA技术在实现该软件系统中的方法.轴孔装配作业实验结果表明,本文提出的体系结构是可行的,采用CORBA技术和多智能体技术能有效地实现预定的装配任务.
Abstract:
This paper presents a distributed architecture to model control system for a humanoid robot, which is based on a multi-agent system and a distributed blackboard system. Agents with different functions are designed according to the requirements of the control system. The functions of agents and agent-to-agent collaborations are also discussed. A motion-control programming interface is given as an example to show how to realize the software under CORBA environment. The peg-in-hole assembly experiment shows that the proposed architecture is practicable and the given assembly tasks can be efficiently finished by applying CORBA and multi-agent technology.

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备注/Memo

备注/Memo:
基金项目: 国家计委211工程资助项目(2102002001)、江苏省自然科学基金资助项目(BK2002405).
作者简介: 文巨峰(1973—),男,博士生; 颜景平(联系人),男,教授,博士生导师.
更新日期/Last Update: 2003-01-20