多机器人远程监控系统的多智能体控制结构

摘要

针对多机器人远程监控系统信息错综复杂、协作不稳定的问题，建立基于多智能体(Multi-Agent)技术的系统体系结构，描述系统各组件之间的信息交互关系，优化人-机智能分配。分析系统物理结构的特点，提出一种基于 Multi-Agent 技术的共享控制系统分层体系结构，结合黑板结构和点对点结构，给出 Multi-Agent 的混合通信模型。针对遥操作系统的特点，设计一种混合型Agent 体系结构，举例研究 Agent 的实现方法。通过多操作者控制机器人保持队形的实验，验证了该混合型 Agent 体系结构的实用性和有效性。%According to the problem of multi-robot intricate and multi-robot collaboration unstable for remote monitoring system of multi-mobile robot, a system architecture based on multi-Agent technology can be established to optimize the man-machine intelligence allocation and to give a clear description of the various components of the system. By the analysis of the physical structure of the system, the architecture of hierarchical system based on share control mode of multi-Agent is proposed and a mixed communication model of multi-Agent combining the blackboard architecture and peer-to-peer structure is designed. According to the characteristics of the teleoperation system, a hybrid Agent architecture is designed. An example of the realization of the Agent is given, and an experiment that multi-operator keep robots controlled in line is designed to verify the effectiveness of the hybrid Agent architecture.