基于多传感器的煤矿探测机器人控制系统研究
Study on Control System of Mine Detection Robot Based on Multi Sensors
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摘要: 针对煤矿探测机器人在煤矿井下事故现场未知环境中的控制需求,研究了基于多传感器的智能控制系统原理与构架方式,提出了煤矿探测机器人3层分布式模块化控制结构,其核心决策规划系统采用多智能体Agent原理进行设计,各个功能Agent按照机器人的行为决策过程递阶分布,各模块间按照反应式的行为准则相互协调配合,完成探测机器人的决策与控制过程。经试验验证,该系统可以使煤矿探测机器人具有处理复杂任务与应对煤矿井下地形环境的能力,实现了机器人的智能控制。Abstract: According to the control requirements of an unknown environment in an accident site of an underground mine, the paper had a study on the principle and framework mode of the intelligent control system based on the multi sensors.A three layer distribution type modularization control structure of the mine detection robot was provided.The key decision planning system was designed with the multi intelligent agent principle .Each function of the Agent was distributed according to the beha vior decision process of the robot.There would be a mutual coordination and cooperation between each modular according to the reaction type behavior regulations to C omplete the decision and control process of the detection robot.The experiments showed that the system could make the mine detection robot with the capacity to handl e the complicated mission and the topography environment in the underground mine.Thus the intelligent control of the robot could be realized.
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Keywords:
- detection robot /
- coal mine /
- intelligent agent /
- control system /
- multi sensors /
- modularization
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