Control System Mobile Robots with Modular Architecture as a Multi-Agent System with a Hierarchical Topology

摘要

An approach to solving an urgent scientific problem is consideredthe development of principles and methods for creating control systems of mobile robots with a modular architecture based on the theory of multi-agent systems. It is proposed to use the hierarchical topology of the robot control system. Modular architecture assumes that each mechatronic module has its own control system implemented on relatively cheap microcontrollers. The modular solution allows for the rapid reconfiguration of robotic systems and significantly reduce the cost of manufacturing robots by reducing their variety. Inter-modules information and control interaction is proposed to be organized on a hierarchical basisa group of full-featured mechatronic submodules, solving the same type of tasks and working together, are controlled by a mechatronic module of a higher level. This approach allows increasing the system performance due to the distribution of computational load between computing devices of individual mechatronic modules and submodules. The proposed control system can be represented as a multi-agent system consisting of full-featured mechatronic and/or electronic modulesagents that interact with each other to achieve a specific goal. In this structure, an analogy is seen with such area of scientific research as a multi-agent systems.