基于确定型有穷自动机的机器人行为控制单元  

Behavior Control Unit of Robot Based on Deterministic Finite Automaton

作　　者：庞梁[1] 

机构地区：[1]上海交通大学

出　　处：《微型电脑应用》2012年第2期41-43,70,共3页Microcomputer Applications

基　　金：国家自然科学基金60970108号项目"异构网络环境下软硬件协同设计的动态二进制翻译研究"资助

摘　　要：基于机器人基本行为的控制方法是机器人能够执行许多高级算法的基本条件,且能有效的减少重编程时的代码量,适用于大规模机器人群体中的无线程序烧录,减少通信量。针对课题研发的需求,提出一种基于确定型有穷自动机的机器人行为控制的数学模型,并使用Picoblaze处理器在FPGA上实现了该数学模型,实验表明本文的方法能大幅度的减少代码更新时的通信量。Behavior control of robot is one of the basic conditions that robot can perform some high-level algorithms. And behavior control of robot canreduce the code size of performing algorithm which makes it work better in swarm robots, because it can accordingly reduce the communication trafficwhen wireless programming happens in swarm robots. This paper propose a mathematical model of behavior control based on deterministic finiteautomaton and finish a design on FPGA using Picoblaze processor which can perform the mathematical model. The experimental results show it cansignificantly reduce the communication traffic of updating code in swarm robots.

关 键 词：行为控制 机器人 PICOBLAZE FPGA 数学模型 

分 类 号：TP335[自动化与计算机技术—计算机系统结构]