基于多机器人臂间协作的通信机制的设计与实现  

Design and Realize of Communication Mechanism of the Manipulators Cooperation Based on Multi-Robot

作　　者：高志军[1] 颜国正[1] 丁国清[1] 颜德田[1] 

机构地区：[1]上海交通大学电子信息学院820研究所,上海200030

出　　处：《系统工程与电子技术》2001年第12期27-29,共3页Systems Engineering and Electronics

基　　金：上海交通大学"985"工程项目基金资助课题

摘　　要：随着多智能体 (multipleagentsystem ,MAS)在多机器人系统中的应用 ,机器人间的信息交换显得尤其重要。以网络传输为基础 ,提出了将基于传输介质的CSMA/CA(可避免冲突的二次检测 )技术用于多机器人臂间在共同工作空间中的路径协调 ,并制定了相应的通讯协议。With the development of the multiple agent system in the multi-robot system, it is important for the multi-robot to exchange the information each other. the CSMA/CA(carrier sense multiple access with collision avoid) technique is used to solve the path planning of the manipulators of the multi-robot based on the network transmission protocol, which cooperate in the same space. The communication protocol is constituted. The method is proved correctly.

关 键 词：机器人 臂间协作 通信机制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]