面向移動(dòng)機(jī)器人的開放式網(wǎng)絡(luò)化控制系統(tǒng)研究.pdf

1、東南大學(xué)博士學(xué)位論文面向移動(dòng)機(jī)器人的開放式網(wǎng)絡(luò)化控制系統(tǒng)研究姓名：王棟耀申請學(xué)位級別：博士專業(yè)：控制理論與控制工程指導(dǎo)教師：戴先中馬旭東20040901東南大學(xué)博士學(xué)位論文面向移動(dòng)機(jī)器人的開放式網(wǎng)絡(luò)化控制系統(tǒng)研究ResearchontheWeb—BasedControlSystemforMobileRobotsWANGDongyaoSupervisedbyProfDAIXianzhongandProfMAXudongSoutheastU

2、niversityAbstractA10ngwiththefaStdevelopmentandpopularizationofInternettechnologies，theresearchonthecombinationofInternetandrobotictechnologiesisbecomingahottopici11theroboticfieldDiIrerentfromthegeneralapplicationswitht

3、ransmissionoftext，audioorvideoviaInternet，thewebbasedroboticsystemcanmakepeopleinteractwiththeremoterealworldalmostwithoutlimitation，andgreatlyextendsthefunctionsofInternetAsanewresearchfieldintegratingmultiplesubjectsin

4、cludingcomputernetworkandroboticsitisinadevelopingphaseUnderthisbackground，thisdissertationcarriesdeepresearchesonseveralbasicandkeyproblemsintheweb—basedroboticsystemsuchastheframeworkautonomyofmobilerobottransmissionof

5、lOCalemultimediaandutilizationofnetworkresourcesetcFirstlyathoroughandsystematicanalysisontheWeb—basedroboticsystemiSgiven，andthenafrallleWOrkoftheWebbasedroboticsystemiSproposedwhichiSorientedtomultipleusersandmultipler

6、obotsSecondlyconsideringtherequirementofnetworkcontrolfort11emobilerobot、anopensubsumptiveandlayeredarchitectureispresentedtoberesponsibleforcontrollingthemobilerobotMeanwhilecontr01algorithmsareproposedforsomebasicintel

7、ligentbehaviorsofmobilerobot，suchaswandering，wallfollowingandpathtrackingwhichallworkwellintheexperimentsBasedonprinciplesaboveawebbasedroboticsystemformobilerobotisdeveloped，whichprovidesasimplehumanmachineinteffaceforI

8、ntemetuserstosuperviseandcontrol也ePioneer2DXmobilerobotBycomparingtheeffectsofdirectandsupervisorycontrol，thesupervisorycontrolisprovedtobemoresuit曲leforthewebbasedroboticsystemThirdlyaccordingtothecharacteristiCSoflocal

9、emultimediaintheweb—basedroboticsystemanadaptivetransmissionalgorithmforthemultimediaisproposedbyroodifying～匝DATheanalysisshowsthatthisalgorithmwouldnotonlyreducetherequirementfornetworkbandwidth，butalSOcompeteforthenetw

10、orkbandwidthwithafriendlymode，andincreasetheservicecapabilityofsystemFinallycombiningthedevelopedweb—basedroboticsystem，aframeworkandaschemearegivenfortIleutilizationofnetworkresourcesbasedontheOpenAgentArchitecture(OAA)

11、，andthedistributedandheterogeneousnetworkresourceiSwrappedasanagentfromwhichthemobilerobotcanactivelyobtaintheservicebyusingtheInteragentCommunicationLanguage(ICL)Theexperimentsindicatethattheproposedschemecallovercometh