移动机器人混合式体系结构研究
首发时间:2009-01-14
摘要:针对移动机器人混合式体系结构设计中存在的反应/慎思功能交叉执行的问题,本文以Saphira/Aria移动机器人智能体系统结构为载体,利用反应机制快速反应和慎思机制慎思推理的思想,设计了包含反应层、慎思层和监督管理层的移动机器人混合式三层体系结构。在监督层中设置监督和协调模块,当发现环境中有未建模障碍物使子目标序列不能按预定方式执行时,判断移动机器人实际移动方向是否严重偏离了预定方向,如果差值超过900,则启动慎思层,重新规划子目标序列;否则只是对其进行简单修改。仿真结果表明,设计的混合式体系结构在导航任务中比单纯的反应式行为在面临不确定情况时具有更好的性能。
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Research on some existed problems of hybrid architecture for mobile robot
Abstract:Considering the problem of the function intercross performing between the deliberation and reaction in the design of the hybrid architecture for the mobile robot, The architecture includes reactive level, deliberative level and the supervisory level building on the Saphira/Aria mobile robot agent architecture. When the scheduled subgoals are not executed owning to the emergency of an unmodeled obstacle, the present moving direction is judged whether it has departed from the destined once badly. If the difference between them has exceeded 900, the subgoals sequence should be replanned by deliberative level. Otherwise it only need to be amended simply. The result demonstrated that hybrid architecture can behave better performance than single reaction once when the robot is confronted with an uncertainty circumstance in navigation task.
Keywords: reaction deliberation supervisory intercross performing hybrid architecture
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No.2781037878012319****
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