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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Development of a multi-behavior based mobile robot for remote supervisory control through the Internet
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Development of a multi-behavior based mobile robot for remote supervisory control through the Internet

机译：开发基于多行为的移动机器人，用于通过Internet进行远程监控

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摘要

We review the networked mobile robot systems and suggest taxonomy based on the three levels of control commands. The performance analysis result shows that direct control has potential difficulty for implementation due to the unpredicted transmission delay of the network. To tackle this problem, we have suggested the behavior-programming control concept to avoid disturbances of the Internet latency. For this purpose, primitive local intelligence of the mobile robot is grouped into motion planner, motion executor, and motion assistant, where each of a group is treated as an agent. They are integrated by centralized control architecture based on multi-agent concept, communicated through a center information memory. The event-driven concept is applied on the robot to switch the behaviors to accommodate the unpredicted mission autonomously. We have successfully demonstrated experimentally the feasibility and reliability for system through a performance comparison with direct remote control.
机译：我们回顾了联网的移动机器人系统，并根据控制命令的三个级别提出了分类法。性能分析结果表明，由于网络的不可预测的传输延迟，直接控制具有潜在的实施难度。为解决此问题，我们提出了行为编程控制概念，以避免Internet延迟的干扰。为此，将移动机器人的原始本地智能分组为运动计划器，运动执行器和运动助手，其中将每个组视为代理。它们通过基于多代理概念的集中控制架构进行集成，并通过中心信息存储器进行通信。事件驱动的概念被应用到机器人上，以切换行为以自主地适应不可预测的任务。通过与直接远程控制的性能比较，我们已经通过实验成功地证明了系统的可行性和可靠性。

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