深海底采矿机器车控制软件体系结构设计与实现  

Control software architecture design and realize for a deep seabed mining robot vehicle

作　　者：韩晓英[1] 陈峰[1] 唐连章[1] 

机构地区：[1]广州大学实验中心,广东广州510006

出　　处：《广州大学学报（自然科学版）》2006年第4期44-49,共6页Journal of Guangzhou University:Natural Science Edition

基　　金：国际海底区域研究开发"十五"项目(DY-105-03-02-06);国家自然科学基金资助项目(60505018)

摘　　要：针对深海底采矿机器车特殊工作环境和特殊工作特性,采用混合体系结构,设计了深海底采矿机器车控制软件体系结构;该结构分为规划层、控制层和执行层.机器车的作业任务被规划为一系列子目标,每个子目标有一个相应的任务监视器,负责安排一套预编程的程序以实现子目标.以行走控制子目标为例,进一步说明了所设计体系结构的可行性.最后,采用VC++语言编制程序,验证了软件体系结构的设计.Focusing on deep seabed robot vehicleg special working environment and special working characteristics, control software architecture is designed. This architecture is organized in three layers： Planning, Control and Execution. The mission is planned with a sequence of sub-goals. Each sub-goal has a related task supervisor, responsible for arranging a set of pre-programmed task modules in order to achieve the sub-goal. In order to show the validity and feasibility of the designed architecture, nature working sub goal is analyzed as an example. At last, the design is realized in visual c＋＋ language.

关 键 词：深海底采矿机器车 软件体系结构 设计与实现 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]