| 一个监控式局部自主机器人控制器的实现与分析 |
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| 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. |
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| 作者姓名： | 陈璟 韦庆 王正志 |
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| 作者单位： | 国防科技大学自动控制系 |
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| 基金项目： | 国家自然科学基金,国家863计划资助 |
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| 摘 要： | 本文介绍了一个严格监督控制（Ｓｕｐｅｒｖｉｓｏｒｙｃｏｎｔｒｏｌ）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。
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| 关 键 词： | 机器人控制器，监督控制，局部自主，体系结构 |
| 收稿时间： | 1997/12/22 0:00:00 |
A Local-Autonomous Robot Controller Based on Supervisory Control Theory: Implementation and Analysis |
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| Chen Jing,Wei Qing and 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. |
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| Authors: | Chen Jing Wei Qing and Wang Zhengzhi |
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| Affiliation: | Department of Automatic Control, NUDT, Changsha, 410073;Department of Automatic Control, NUDT, Changsha, 410073;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. |
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| Keywords: | robot controller supervisory control local autonomous architecture |
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