本文對面對極限環(huán)境下的多感官移動機(jī)器人進(jìn)行了控制系統(tǒng)設(shè)計(jì)，并提出了一種針對
多感官信息采集、融合以及移動平臺路徑規(guī)劃的三層分布式控制系統(tǒng)，并針對每一層的任務(wù)需求對控制系統(tǒng)進(jìn)行了詳細(xì)的說明。各層之間通過總線技術(shù)進(jìn)行連接，保證數(shù)據(jù)無障礙傳輸，系統(tǒng)的調(diào)試、控制非常方便。
關(guān)鍵詞： 移動機(jī)器人；三層分布式控制系統(tǒng)； 任務(wù)
Abstract: In this paper, a control system of the multi-sensory mobile robot used in un-structural environment is designed ,and also a three-tier distributed control system is proposed base on the multi-sensory information collection, integration and mobile platforms path planning. At every level and against the mandate, the control system needs a detailed explanation. The bus technology between all levels to connect ensures accessibility of data transmission, and the system's commissioning, control is very convenient.
Key words: mobile robot；three-tier distributed control system；task