论文标题
一个基于混合系统的层次控制体系结构，用于异质现场机器人团队
A Hybrid Systems-based Hierarchical Control Architecture for Heterogeneous Field Robot Teams
论文作者
论文摘要
现场机器人系统最近已应用于广泛的研究领域。使此类系统更加自动化，高级和激活需要在异质机器人之间进行合作。经典控制理论在管理大规模复杂动态系统方面效率低下。因此，需要引入基于离散事件系统的监督控制理论以克服此限制。在这项研究中，我们通过基于监督控制的高级控制器和传统的基于控制的基于控制的低级控制器提出了基于混合系统的层次控制体系结构。混合系统及其动力学是通过称为Hybrid Automata的形式方法对其进行建模的，并设计了表达合作控制目标的行为规范。此外，合成了比集中式监督控制器更可扩展和可维护的模块化主管。提出的混合系统和层次控制体系结构被实施，验证，然后通过基于物理的模拟器进行了评估。实验结果证实，异质场机器人团队满足了给定的规格并提出了系统的结果，从而验证了所提出的控制体系结构的效率。
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in managing large-scale complex dynamic systems. Therefore, the supervisory control theory based on discrete event system needs to be introduced to overcome this limitation. In this study, we propose a hybrid systems-based hierarchical control architecture through a supervisory control-based high-level controller and a traditional control-based low-level controller. The hybrid systems and its dynamics are modeled through a formal method called hybrid automata, and the behavior specifications expressing the control objectives for cooperation are designed. Additionally, a modular supervisor that is more scalable and maintainable than a centralized supervisory controller was synthesized. The proposed hybrid systems and hierarchical control architecture were implemented, validated, and then evaluated for performance through the physics-based simulator. Experimental results confirmed that the heterogeneous field robot team satisfied the given specifications and presented systematic results, validating the efficiency of the proposed control architecture.
