機(jī)械手畢業(yè)設(shè)計(jì)外文翻譯--基于黑板模式整合多種領(lǐng)域達(dá)到戰(zhàn)略上為機(jī)械手導(dǎo)航-機(jī)械手(編輯修改稿)
2025-02-24 06:11 本頁(yè)面
【文章內(nèi)容簡(jiǎn)介】 od. Due to the limitations of the sensors and censor processing. most of the knowledge the robot acquires is either inplete or uncertain. To address these problems. we have designed a mobilerobot system architecture that uses a blackboard to coordinate and integrate several realtime activities. An activityis an anizational unit. or module. Designed to perform a specific function, such as traversing a hallway. going down steps. crossing over an open channel on the floor, or tracking a landmark. An activity resembles a behavior in that it controls the robot to perform a specific task. It differs from a behavior in that it is designed to perform the specific task in a narrow application domain, whereas a behavior generally resembles a biological responsethat is. an anism’s response to a stimulus. Payton’ defined the term activity as an instance of an activation set. where an activation set is posed of a number of behaviors. Payton’s activities are a way to specify a bination of behaviors to achieve a more plex behavioral pattern. In contrast, we make no attempt to define our activities as a bination of basic behaviors. In our system, several activities are necessary for the robot to perform simple tasks such as moving around a factory bay. Some of these basic navigation activities are traversing open space. Crossing over floor anomalies (cables or channels), and avoiding collisions. The system architecture must define a mechanism to coordinate the mobile robot’s activities since they cannot all drive the robot simultaneously. Most mobilerobot control systems are hybrid systems bining approaches from hierarchical. behavial,and blackboardbased systems. Behaviorbased systems have recently bee more prevalent for controlling mobile robots. Hierarchical architectures, such as Nasrem (NASA/NIST Standard Functional Architecture for Telerobot Control System Architecture)j,’ and IMAS (Intelligent Mobile Autonomous System).” offer a nice paradigm breaking down a global task into sub tasks, but the hierarchical structure quickly degrades into a hierarchical mand struc bined with distributed sensing sim to that implemented on Mobot III.’ Most these systems use sensethinkact cycles that are difficult to implement in real time when the robot must deal with diverse sensing conditions. Lumia” has demonstrated the use of Nasremstvle architecture for realtime defined, narrow scope of operation and does not require the sensing diversity that a mobile robot needs. In an attempt to add reflexive ability to a hierarchical system, Paytoni proposed a vertical deposition along with the more classical horiz
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