On Reconfigurable Control System for Mobile Robot

摘要

The flexibility and robustness problems for navigation control system of mobile robot under unknown environments are discussed,and the architecture of complex control system is analyzed.Based on the theory of heterogeneous multi-agent systems,an integrated design of control system is presented,which can be dynamically reconfigured on multi-layer.A feasible scheme is set out to dynamically reconfigure a control system with variable tasks and environments,and the adaptability of mobile robot is effectively improved.The experiment results on the mobile robot MORCS-I show the actual effect of reconfiguration control,and the suitability to other kinds of complex control systems.