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首页> 外文期刊>Journal of aerospace engineering >Distributed-Controlled Multiagent Mobile Platform with Digital Actuation Concept for Space Applications
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Distributed-Controlled Multiagent Mobile Platform with Digital Actuation Concept for Space Applications

机译：具有数字驱动概念的分布式控制多主体移动平台，适用于太空应用

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This paper describes an architecture for a multiagent robotic system that consists of a number of identical units. The homogeneous units are mechanically connected to construct a mobile platform named a "multiagent transportation (MAT) system." Every unit has its local controller that communicates only with its adjacent units. This basic configuration of supervisorless structure affirmatively confines the dependence of each unit to a local area, and therefore any unit can be removed from or added into any part of a MAT system regardless of the timing and without disturbing the performance of the whole system. This flexibility of configuration significantly contributes to easy maintenance of units, such as battery charging or hot-replacing for faulty units. Utilizing this flexibility, MAT systems are able to adapt to a variety of tasks including transportation application and to target objects of various shapes and range of mass. These characteristics of MAT systems are the strong advantages for mobile robots, especially for ones activated in distant places, e.g., robotic planetary explorers. A proposed example unit of a MAT system shown in this paper employs a parallel link manipulator as its leg, and the digital-actuation (D-actuation) concept is applied for the local unit controller to actuate the leg. Together with the basic design of the example units, the controlling framework is described with simulation results to show the feasibility of the whole mobile system architecture.
机译：本文介绍了一种由多个相同单元组成的多主体机器人系统的体系结构。均质单元通过机械方式连接，以构建一个名为“多代理运输（MAT）系统”的移动平台。每个单元都有其本地控制器，该控制器仅与其相邻单元通信。无监督程序结构的这种基本配置肯定将每个单元的依赖范围限制在局部区域，因此，任何单元都可以从MAT系统的任何部分中删除或添加到MAT系统的任何部分中，而与时间无关，并且不会影响整个系统的性能。这种配置灵活性极大地简化了设备维护，例如电池充电或故障设备的热更换。利用这种灵活性，MAT系统能够适应包括运输应用在内的各种任务，并能适应各种形状和质量范围的目标物体。 MAT系统的这些特征对于移动机器人具有强大的优势，特别是对于在遥远地方激活的机器人，例如机器人行星探测器。本文中所示的MAT系统的示例单元采用并行链接操纵器作为其支腿，并且数字致动（D-actuation）概念被应用于本地单元控制器来致动支腿。结合示例单元的基本设计，通过仿真结果描述了控制框架，以显示整个移动系统架构的可行性。

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