MODELLING AND SIMULATION OF DISTRIBUTED SYSTEMS USING INTELLIGENT MULTI-AGENTS

摘要

Among the challenges in the field of the paper we have identified the necessity of control methods and tools of mobile robots (MRS) equipped with robot manipulator (RM) serving assembly/ disassembly mechatronic lines (A/DML).The framework of the work reported here is represented by SMART&ASTI A/DML served by two MRs with RM, working collaboratively and the goal is development of a multi-agent system able control interactively trajectories of MRs, working collaboratively to serve the A/DML, by avoiding the collisions between them. The advantage offered by the proposed solution consists in graphical representation of the trajectory of MRs working collaboratively, as well as the current status of them, while the users are able to interact intuitively with the MRs trough the proposed GUI The added value of the paper consists in the implementation of multi-agents systems in a complex A/DML served by two MRs equipped with RM, working collaboratively, the increased autonomy in communication between the entities of entire system, and the adaptive control of MRs trajectories.