Architecture of Multi-Agent-Based Multi-Operator Multi-Mobile-Manipulator Teleoperation System

摘要

Being characteristics of motion, coordination, distribution, non-determinism etc, multi-operator multi-mobile-manipulator teleoperation system has difficulties in controlling and implementation. Multi-Agent-Based architecture of the system can distinctly describe the information interactive relationship between components of the system, and optimize intelligence distribution between human and robot, so it helps to reduce difficulties in controlling and implementation of the system. After the physical structure of the system was analyzed, the system was divided into several sub-systems with given function, and then a Multi-Agent-Based layered architecture with shared control mode of the system was proposed and the function of each Agent was planned. Multi-Agent's mixed communication structure was designed by both of blackboard model and Peer-to-Peer model. According to characteristics of the system, a kind of general mixed architecture for Agent was proposed, and an example of implementation method of Agent was given, then the validity of the mixed architecture was verified by designing experiment.