欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
针对移动机器人的应用需求，研究并建立与人共存智能环境中对人友好的通用任务规划与执行系统（HFPES）的模型与架构，包括建立分布式机器人系统的MAS模型．在完全分布式结构的基础上，加入集中式结构的优点，引入复合Agent和移动Agent概念，建立一种高可靠性的分布式机器人系统的多Agent结构．同时针对系统中机器人智能体给出其Agent建模的分层混合结构，包括任务计划层、任务分配层、IAAs管理层、自主规划层和构件管理层，并采用多Agent协商的方法进行任务规划分配，有效解决了环境动态未知性带来的问题．通过这种任务分配、执行方式可以最大程度上实现智能构件环境下机器人系统的自主运行，增强系统的稳定性和可靠性．
英文摘要：
According to the application requirements of the mobile robot, the general human friendly task planning and execution system （HFPES） model and the architecture is studied and established in dynamic intelligent environment, including the establishment of the MAS model for distributed robot system. By adding centralized structure to the distributed system and introducing composite agent and mobile agent concept, the multiagent structure of distributed robot system with high reliability is es tablished. The hierarchical mixedlayer structure of the robot agent modeling is proposed according to the robot agent in the system, including task planning layer, task allocation layer, IAAs manage ment layer, autonomous planning layer and component management layer. The method of multia gent negotiation is employed to accomplish task planning and assigning which effectively resolves the problems brought by the environment dynamic unpredictability. Through the task allocation and im plementation methods, the intelligent robot system can run autonomously and effectively in compo nent environment, which highly enhances the system＇s stability and reliability.
同期刊论文项目
同项目期刊论文
Spatial-temporal Collaborative Sequential Monte Carlo for Mobile Robot Localization in Distributed I
Socially Acceptable Pre-collision Safety Strategies for Human-Compliant Navigation of Service Robots
Robotic Etiquette: Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learni
A Twofold-interpolation-based Path Planning Algorithm and Its Path Following Based on Improved Virtu
期刊信息
位置：