基于多智能体的自重构机器人突现控制系统平台的构建  

Construction of multi-agent based emergence control system platform for self-reconfigurable robots

作　　者：吴秋轩[1] 曹广益[1] 费燕琼[2] 

机构地区：[1]上海交通大学燃料电池研究所,上海200030 [2]上海交通大学机器人所,上海200030

出　　处：《高技术通讯》2006年第3期246-251,共6页Chinese High Technology Letters

基　　金：国家自然科学基金（50305021）资助项目.

摘　　要：构建了基于多智能体的模块化自重构机器人系统实验平台。在详细分析了自重构系统的主要特点的基础上，设计了一种新型的同构阵列式模块化自重构机器人M-Cubes，阐述了多智能体分布式体系的控制结构，给出了实验平台的设计策略，包括单智能体结构设计、控制系统的硬件设计、单元模块的基本运动和系统运动规划策略。利用Java3D开发了一个仿真试验平台，对各种控制算法进行了仿真和测试评估。An experimental platform based on muhi-agent for modular self-reconfigurable （MSR） robots was structured. On the basis of analyzing the main characteristics of MSR robots, a novel homogeneous and lattice MSR robot called M-Cubes was designed. The control structure of the distributed multi-agent was elaborated and the design strategies of the experimental platform were given, including structure design of single agent, hardware design of control system, basic motion of cell module and motion planning strategy of the system. A visual simulation environment of MSR robots was designed utilizing java 3D technology, and many control algorithms of modules and evaluations were simulated in the environment.

关 键 词：自重构 模块化机器人 突现控制 多智能体 机械电子设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]