| 引用本文: | 陈璟,韦庆,王正志.一个监控式局部自主机器人控制器的实现与分析.[J].国防科技大学学报,1998,20(5):27-32.[点击复制] |
| Chen Jing,Wei Qing,Wang Zhengzhi.A Local-Autonomous Robot Controller Based on Supervisory Control Theory: Implementation and Analysis[J].Journal of National University of Defense Technology,1998,20(5):27-32[点击复制] |
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| 一个监控式局部自主机器人控制器的实现与分析 |
| 陈璟, 韦庆, 王正志 |
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(国防科技大学 自动控制系 湖南 长沙 410073)
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| 摘要: |
| 本文介绍了一个严格监督控制(Supervisory control)定义下的局部自主机器人控制器GKD3的设计和实现, 并从监督控制理论的角度, 对GKD3的体系结构和功能进行了分析和讨论。 |
| 关键词: 机器人控制器, 监督控制, 局部自主, 体系结构 |
| DOI： |
| 投稿日期：1997-12-22 |
| 基金项目:国家自然科学基金及国家863计划资助项目 |
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| A Local-Autonomous Robot Controller Based on Supervisory Control Theory: Implementation and Analysis |
| Chen Jing, Wei Qing, Wang Zhengzhi |
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(Department of Automatic Control, NUDT, Changsha, 410073)
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| Abstract: |
| The notion of supervisory control, is situated between those of manual control and autonomous control. In a sense, supervisory control means that the operator continually monitors and iteratively updates or modifies the program, the local control loop must be autonomous. This paper presents the design and implementation of GKD3, which is a supervisory-controlled local-autonomous robot controller. Based on the theory of supervisory control, we analysis GKD3's architecture and functions. |
| Keywords: robot controller, supervisory control, local autonomous, architecture |
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