基于平行控制的异构多Agent机器人系统控制方法

摘要

复杂系统控制过程往往需要人综合控制系统、仿真系统,以及人在回路综合实现.构建基于多agent机器人系统及其实现策略,是多机器人系统研究和解决现实问题的热点.本文基于多部件综合作业机器人项目,针对不同作业机器人,提出一种异构多Agent机器人系统控制方法,此方法引入ACP理论的思想,将平行控制方法应用于机器人综合作业平台,通过人工系统与实际系统的虚实互动,使电脑的计算能力与人脑的灵活能力有效结合,实现了一个复杂系统的合理管控,为多机器人协作完成实际复杂控制系统提供了一种保证系统可靠性基础上提高效率的可供借鉴的理论和实现方法.%To realize the process control of complex systems often requires people integrate control-systems and simulation systems,and interactions between people and these systems.Construction of robot system based on mul-ti-agent and its implementation strategy is a hot spot of multi-robot system research and how to solve practical problems with it.Based on the multi-component integrated operation robot project,according to different robots,this paper put forward a kind of heterogeneous multi-agent robot system control method.This method introduces ACP theory,applies parallel control method to robot operation platform.It make computer computing ability and the human brain ability of flexible combine effectively through artificial systems interact with the actual system.So that we realize scientific con-trol of a complex system,and provides a feasible theory and implementation method for reference for multi-agent coo-perated to perform complex control system,this method improve efficiency on the basis of guarantee the reliability of the system.