基于五元组建模的微小型机器人体系结构研究  

Five-tuples Model Based Architecture Research of Small Robot

作　　者：杨旦[1] 成伟明[1] 赵春霞[1] 唐振民[1] 王镇兴[1] 

机构地区：[1]南京理工大学计算机系人工智能实验室,江苏南京210094

出　　处：《兵工学报》2008年第1期105-109,共5页Acta Armamentarii

摘　　要：履带式微小型机器人能够在室内或野外等各种复杂地域环境中工作,可被广泛运用在反恐、排爆、以及对危险环境的探测中。由于便携式微小型机器人具有的体积小,决定了其所具备的计算资源少等特点。提出了一种基于五元组,适用于微小型机器人基于多智能体体系结构的建模方法,实现了履带式微小型智能机器人体系结构系统。最后,通过机器人模拟仿真实验,验证了所实现的系统具有良好的实时性、鲁棒性以及稳定性。The small mobile robot with pedrail wheels （SMRPW） can be widely used for antiterror, clearing of blast and detecting dangerous environment at the indoor and the field. For the computing resource of SMRPW is not rich caused by the limit of its small bulk, a modeling method based on fivetuples was proposed on the basis of the characteristics of several architectures for intelligent robots. The architecture of SMRPW was realized by the method. The simulation experiment of SMRPW was carried out. The result shows that the SMRPW architecture system performs well in real-time response, robust and stabilization.

关 键 词：计算机应用 微小型智能机器人 系统建模 体系结构设计 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]