Autonomous underwater robots with distributed behavior control architecture
Autonomous underwater robots with distributed behavior control architecture
复制标题
具有分布式行为控制架构的自主水下机器人
DOI：
10.1109/robot.1995.525538
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
T. Ura
中科院分区：
文献类型：
--
作者：
T. Fujii;T. Ura
本文介绍了一种用于多自主水下机器人系统开发的试验台系统的设计和总体结构。所开发的系统可以被看作是一个多智能体系统，其中包括一对自主水下机器人，名为“双汉堡-I和II”，超声波定位系统，和人类潜水员。超声波命令链路系统用于每个代理之间的通信。分布式车辆管理体系结构（DVMA）被应用到双汉堡机器人作为机器人的控制软件的体系结构。使命执行实验在工业科学研究所（IIS）测试池中进行。结果表明了DVMA的有效性和适用性。
This paper describes the design and overall structure of a test-bed system for developing multiple autonomous underwater robot systems. The developed system can be regarded as a multi-agent system which consists of a pair of autonomous underwater robots, named "The Twin-Burger-I and II", an ultrasonic positioning system, and a human diver. An ultrasonic command link system is used for communication among each agents. The distributed vehicle management architecture (DVMA) is applied to the Twin-Burger robot as an architecture for the control software of the robot. Mission execution experiments are carried out in the Institute of Industrial Science (IIS) testing pool. The results show the effectiveness and applicability of the DVMA.