Development of a Networked Multi-agent System Based on Real-Time Ethernet
Development of a Networked Multi-agent System Based on Real-Time Ethernet
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DOI：
10.1007/978-3-642-25486-4_36
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
Xiong Xu;Z. Xiong;Jianhua Wu;Xiangyang Zhu
中科院分区：
文献类型：
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作者：
Xiong Xu;Z. Xiong;Jianhua Wu;Xiangyang Zhu
本文提出一种基于实时以太网的网络化多Agent系统。所开发的系统由一组智能网络代理组成，它们通过实时以太网以环形拓扑连接。每个网络代理都旨在使用数字信号处理器和现场可编程门阵列技术来实现运动控制任务和实时通信功能。此外，还提出了一种实时通信协议来应对以太网的非确定性问题。然后，分析了数据处理和消息传输引起的时间延迟。建立了一个平台来评估所开发的网络多智能体系统的能力。实验结果表明，该系统在实时通信和伺服控制性能方面取得了良好的性能。
This paper proposes a networked multi-agent system based on the real-time Ethernet. The developed system consists of a set of smart networked agents, which are connected by a ring topology through the real-time Ethernet. Each networked agent is designed to realize motion control tasks and real-time communication capabilities using digital signal processor and field-programmable gate array technologies. Furthermore, a real-time communication protocol is proposed to cope with the non-deterministic problem of Ethernet. Then, time delays caused by data processing and message transmission are analyzed. A platform is built to evaluate the capabilities of the developed networked multi-agent system. The experimental results demonstrate that the presented system achieves good performance in terms of real-time communication and servo-control performance.