【作者】 谢峰；

【导师】 肖晓明；

【作者基本信息】 中南大学 ， 模式识别与智能系统， 2007， 硕士

【摘要】 课题研究来源于国家自然科学基金重点项目(60234030)“未知环境中移动机器人导航控制的理论与方法研究”和中南大学科学研究基金项目(1811-76176)“基于选择性关注机制的环境认知理论与技术研究”。作为这些项目的一部分，课题研究的目的在于为复杂控制系统提供一种能够体现较强柔性与鲁棒性的可重构设计方法，为开展未知环境中移动机器人的导航控制研究提供便利。课题研究的主要内容可概括为以下几个方面：第一，在分析了目前已提出的多个可重构控制系统的基础上，从其共性出发，对复杂控制系统模型进行抽象，提出一种复杂控制系统的简化模型，以清晰地表达复杂控制系统中各个逻辑功能部分的重构驱动因素、以及各个部分之间在重构方面的相互影响，为随后的可重构设计方法研究提供基本框架。第二，针对多源信息处理提出了对异类信息的统一描述，并对同类多源信息处理的某些特性进行了分析，提出了由原子信息驱动的处理过程重构，以及建立在此基础之上的基于异构多Agent系统的信息处理系统可重构设计方法。此外，还针对传感器网络中的数据传输问题设计了一种具备故障自诊断能力的通信协议。第三，从分层递阶控制和Agent协作的角度出发讨论了分布式控制系统的重构，提出了重构控制率与异构多Agent系统相结合的多层次重构设计方法。同时结合所提出的理论和方法，讨论了在导航控制领域占据重要地位的路径规划问题，并为实现可重构的路径规划提出了动态环境模型与并行规划方法。第四，以移动机器人MORCS-Ⅰ的导航控制系统为应用对象，实现了一个具有基本功能的可重构控制系统，并在此基础上展开了故障诊断、路径规划等研究工作。通过此类实践，所提出的可重构设计方法得到了技术上的验证，同时表明其能增强系统柔性与鲁棒性，并简化系统结构，可作为复杂控制系统的基本设计方法使用。更多还原

【Abstract】 This research work is supported by the key project of the National Natural Science Foundation of China under grant no. 60234030, Research on Theories and Methods of Navigation Control for Mobile Robots under Unknown Environments, and the project of the Science Foundation of Central South University under grant no. 1811-76176, Research on Theories and Technologies of Select Attentive Environment Cognition.As on part of these projects, the aim of this dissertation is to introduce a system design pattern for reconfigurable control system, which can improve the flexibility and robustness of complex control system, it also makes research work on navigation control for mobile robots much more convenience.Main contribution and work are described as follows:1. Based on the commonness of several reconfigurable control system applications, a simplified model of complex control system was presented, which is on the purpose of showing exactly driven factors of system reconfiguration and affording a basic framework for next research work on system design pattern.2. Presented a unified description methodology for heterogeneous information in multi-source information processing, and analyzed some attributes of homogeneous information processing. Based on these work, a reconfigurable information processing system was designed, which is driven by atomic information and in a form of heterogeneous multi-agent system. In an addition, a communication protocol with self diagnosis ability used in sensor network was also designed.3. Based on hierarchical intelligence control and agent cooperation, the reconfiguration strategy of distributed control system was discussed, and presented a multi-layered reconfiguration design methodology, which combined reconfigurable control law with heterogeneous multi-agent system theory. As path planning takes an important place in navigation system, dynamic environment model and parallel path planning were presented, that were considered as a special application of the design methodology.4. A basic reconfigurable control system for the mobile robot named MORCS-I on purpose of navigation control was designed. And based on this work, a lot of application work was expanded, such as fault diagnosis and path planning. As these applications showed good flexibility, robustness and simple in system structure, the design pattern introduced for reconfigurable control system was qualified, it also can be used in the most of complex control systems.更多还原