A Distributed Control Architecture for Autonomous Robot Systems
A Distributed Control Architecture for Autonomous Robot Systems
复制标题
自主机器人系统的分布式控制架构
DOI：
10.1142/9789812797773_0023
复制
发表时间：
1994
期刊：
影响因子：
--
通讯作者：
U. Rembold
中科院分区：
文献类型：
--
作者：
T. Längle;T. Lüth;U. Rembold
分布式控制机器人和子系统的主要优点是系统组件的分散任务执行。通过这种方式，可以很容易地获得灵活控制架构的设计属性，如模块化，容错性，可集成性和可扩展性，此外，还可以使用分布式知识和分散世界表示的概念。另一方面，部件之间的协调，例如用于双臂系统中的两个操纵器之间的碰撞避免的路径规划，是非常难以保证的。为了解释这些概念，卡尔斯鲁厄自治移动的机器人KAMRO被认为是正在开发的IPR。该机器人系统由两个机械手、手眼摄像机、一个顶置摄像机和一个移动的平台组成。扩展的分布式控制体系结构KAMARA（KAMROs多智能体机器人体系结构），负责克服协调问题，例如所造成的两个机械手系统的独立任务执行。此外，它解释了分散的世界表示可以用于并行任务执行的方式。所描述的智能控制体系结构将取代以前的控制体系结构的自主机器人KAMRO。
The main advantage of distributed controlled robots and subsystems is the decentralized task execution by the system components. This way, properties for the design of flexible control architectures like modularity, fault-tolerance, integrability and extendibility are easily obtained, further it is possible to use the concepts of distributed knowledge and decentralized world representation. On the other hand, coordination between the components, for example path planning for collision avoidance between both manipulators in a two-arm-system, is very difficult to guarantee. To explain these concepts, the Karlsruhe Autonomous Mobile Robot KAMRO is considered which is being developed at IPR. The robot system consists of several subcomponents like two manipulators, hand-eyecameras, one overhead-camera and a mobile platform. Extensions to the distributed control architecture KAMARA (KAMROs Multi Agent Robot Architecture) are described that are responsible to overcome coordination problems, for example caused by the independent task execution of both manipulator systems. Further, it is explained which way the decentralized world representation can be used for parallel task execution. The described intelligent control architecture will replace the former control architecture of the autonomous robot KAMRO.