移动机器人可重构控制系统研究
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摘要
课题研究来源于国家自然科学基金重点项目(60234030)“未知环境中移动机器人导航控制的理论与方法研究”和中南大学科学研究基金项目(1811-76176)“基于选择性关注机制的环境认知理论与技术研究”。
作为这些项目的一部分，课题研究的目的在于为复杂控制系统提供一种能够体现较强柔性与鲁棒性的可重构设计方法，为开展未知环境中移动机器人的导航控制研究提供便利。
课题研究的主要内容可概括为以下几个方面：
第一，在分析了目前已提出的多个可重构控制系统的基础上，从其共性出发，对复杂控制系统模型进行抽象，提出一种复杂控制系统的简化模型，以清晰地表达复杂控制系统中各个逻辑功能部分的重构驱动因素、以及各个部分之间在重构方面的相互影响，为随后的可重构设计方法研究提供基本框架。
第二，针对多源信息处理提出了对异类信息的统一描述，并对同类多源信息处理的某些特性进行了分析，提出了由原子信息驱动的处理过程重构，以及建立在此基础之上的基于异构多Agent系统的信息处理系统可重构设计方法。此外，还针对传感器网络中的数据传输问题设计了一种具备故障自诊断能力的通信协议。
第三，从分层递阶控制和Agent协作的角度出发讨论了分布式控制系统的重构，提出了重构控制率与异构多Agent系统相结合的多层次重构设计方法。同时结合所提出的理论和方法，讨论了在导航控制领域占据重要地位的路径规划问题，并为实现可重构的路径规划提出了动态环境模型与并行规划方法。
第四，以移动机器人MORCS-Ⅰ的导航控制系统为应用对象，实现了一个具有基本功能的可重构控制系统，并在此基础上展开了故障诊断、路径规划等研究工作。通过此类实践，所提出的可重构设计方法得到了技术上的验证，同时表明其能增强系统柔性与鲁棒性，并简化系统结构，可作为复杂控制系统的基本设计方法使用。
This research work is supported by the key project of the National Natural Science Foundation of China under grant no. 60234030, Research on Theories and Methods of Navigation Control for Mobile Robots under Unknown Environments, and the project of the Science Foundation of Central South University under grant no. 1811-76176, Research on Theories and Technologies of Select Attentive Environment Cognition.
As on part of these projects, the aim of this dissertation is to introduce a system design pattern for reconfigurable control system, which can improve the flexibility and robustness of complex control system, it also makes research work on navigation control for mobile robots much more convenience.
Main contribution and work are described as follows:
1. Based on the commonness of several reconfigurable control system applications, a simplified model of complex control system was presented, which is on the purpose of showing exactly driven factors of system reconfiguration and affording a basic framework for next research work on system design pattern.
2. Presented a unified description methodology for heterogeneous information in multi-source information processing, and analyzed some attributes of homogeneous information processing. Based on these work, a reconfigurable information processing system was designed, which is driven by atomic information and in a form of heterogeneous multi-agent system. In an addition, a communication protocol with self diagnosis ability used in sensor network was also designed.
3. Based on hierarchical intelligence control and agent cooperation, the reconfiguration strategy of distributed control system was discussed, and presented a multi-layered reconfiguration design methodology, which combined reconfigurable control law with heterogeneous multi-agent system theory. As path planning takes an important place in navigation system, dynamic environment model and parallel path planning were presented, that were considered as a special application of the design methodology.
4. A basic reconfigurable control system for the mobile robot named MORCS-I on purpose of navigation control was designed. And based on this work, a lot of application work was expanded, such as fault diagnosis and path planning. As these applications showed good flexibility, robustness and simple in system structure, the design pattern introduced for reconfigurable control system was qualified, it also can be used in the most of complex control systems.
作为这些项目的一部分，课题研究的目的在于为复杂控制系统提供一种能够体现较强柔性与鲁棒性的可重构设计方法，为开展未知环境中移动机器人的导航控制研究提供便利。
课题研究的主要内容可概括为以下几个方面：
第一，在分析了目前已提出的多个可重构控制系统的基础上，从其共性出发，对复杂控制系统模型进行抽象，提出一种复杂控制系统的简化模型，以清晰地表达复杂控制系统中各个逻辑功能部分的重构驱动因素、以及各个部分之间在重构方面的相互影响，为随后的可重构设计方法研究提供基本框架。
第二，针对多源信息处理提出了对异类信息的统一描述，并对同类多源信息处理的某些特性进行了分析，提出了由原子信息驱动的处理过程重构，以及建立在此基础之上的基于异构多Agent系统的信息处理系统可重构设计方法。此外，还针对传感器网络中的数据传输问题设计了一种具备故障自诊断能力的通信协议。
第三，从分层递阶控制和Agent协作的角度出发讨论了分布式控制系统的重构，提出了重构控制率与异构多Agent系统相结合的多层次重构设计方法。同时结合所提出的理论和方法，讨论了在导航控制领域占据重要地位的路径规划问题，并为实现可重构的路径规划提出了动态环境模型与并行规划方法。
第四，以移动机器人MORCS-Ⅰ的导航控制系统为应用对象，实现了一个具有基本功能的可重构控制系统，并在此基础上展开了故障诊断、路径规划等研究工作。通过此类实践，所提出的可重构设计方法得到了技术上的验证，同时表明其能增强系统柔性与鲁棒性，并简化系统结构，可作为复杂控制系统的基本设计方法使用。
This research work is supported by the key project of the National Natural Science Foundation of China under grant no. 60234030, Research on Theories and Methods of Navigation Control for Mobile Robots under Unknown Environments, and the project of the Science Foundation of Central South University under grant no. 1811-76176, Research on Theories and Technologies of Select Attentive Environment Cognition.
As on part of these projects, the aim of this dissertation is to introduce a system design pattern for reconfigurable control system, which can improve the flexibility and robustness of complex control system, it also makes research work on navigation control for mobile robots much more convenience.
Main contribution and work are described as follows:
1. Based on the commonness of several reconfigurable control system applications, a simplified model of complex control system was presented, which is on the purpose of showing exactly driven factors of system reconfiguration and affording a basic framework for next research work on system design pattern.
2. Presented a unified description methodology for heterogeneous information in multi-source information processing, and analyzed some attributes of homogeneous information processing. Based on these work, a reconfigurable information processing system was designed, which is driven by atomic information and in a form of heterogeneous multi-agent system. In an addition, a communication protocol with self diagnosis ability used in sensor network was also designed.
3. Based on hierarchical intelligence control and agent cooperation, the reconfiguration strategy of distributed control system was discussed, and presented a multi-layered reconfiguration design methodology, which combined reconfigurable control law with heterogeneous multi-agent system theory. As path planning takes an important place in navigation system, dynamic environment model and parallel path planning were presented, that were considered as a special application of the design methodology.
4. A basic reconfigurable control system for the mobile robot named MORCS-I on purpose of navigation control was designed. And based on this work, a lot of application work was expanded, such as fault diagnosis and path planning. As these applications showed good flexibility, robustness and simple in system structure, the design pattern introduced for reconfigurable control system was qualified, it also can be used in the most of complex control systems.
引文
[1] 蔡自兴，贺汉根，陈虹．未知环境中移动机器人导航控制研究的若干问题[J]．控制与决策，2002，17(4)：385-390，464．
[2] Martin Fowler, Kent Beck, John Brant, William Oodvke, Don Roberts. Refactoring: Improving the Design of Existing Code[M]. Boston: Addison Wesley Longman, Inc., 1999: 53-54.
[3] 董选明，谭民．质量弹簧系统的重构和容错控制研究[J]．控制与决策，2000，15(1)：46-50．
[4] 葛彤，冯正平，朱继懋．分段重构控制策略[J]．自动化学报，2000，26(6)：807-810．
[5] 胡寿松，郭伟，张德发．歼击机结构故障的检测与自修复控制律重构[J]．航空学报，1998，19(6)：674-677．
[6] 李清，沈春林，郭锁凤．控制可重构飞机多变量鲁棒控制器设计[J]．控制理论与应用，2000，17(1)：133-135．
[7] 任章，唐小静，陈杰．基于输出反馈特征结构配置的重构控制系统设计[J]．控制理论与应用，2002，19(3)：356-362．
[8] Looze D P, et al. An Automatic Redesign Approach for Restructruable Control Systems[J]. IEEE Con. Sys. Mag., 1985, 5(2): 16-22.
[9] Sdchander R, Walker B K. Stochastic Stability Analysis for Continuous-time Fault Tolerant Control Systems[J]. Int. J. Control, 1993, 57(3): 433-452.
[10] 邹小兵，蔡自兴，孙国荣．移动机器人基于变结构的侧向控制设计[J]．中南工业大学学报(自然科学版)，2004，35(2)：262-267．
[11] 王源，胡寿松，吴庆宪．一类非线性系统的自组织模糊CMAC神经网络自适应重构跟踪控制[J]．2003，20(1)：70-77．
[12] 段然，樊晓桠，高德远，沈戈．可重构计算技术及其发展趋势[J]．计算机应用研究，2004．8：14-17．
[13] G Estrin, et al. Parallel Processing in a Restructurable Computer System[J]. IEEE Trans. Electronic Computers, 1963, 12: 7472-755.
[14] 李斌，吴镇炜，谈大龙，王越超．可重构机器人技术的探讨[J]．信息与控制，2001，30(7)：684-688，699．
[15] 王明辉，马书根，李斌，王超越，贺鑫元．可重构星球探测机器人控制系统的 设计与实现[J]．机器人，2005，27(3)：273-277．
[16] 张亮，赵杰，蔡鹤皋．自重构机器人的硬件设计及自重构规划研究[J]．东南大学学报(自然科学版)，2005，35(2)：243-247．
[17] 刘明尧，谭跃刚，周祖德，胡业发．可重构模块化机器人分布式控制算法研究[J]．武汉理工大学学报(信息与管理工程版)，2005，27(1)：6-9，21．
[18] Donald Schmitz. The CMU Reconfigurable Modular Manipulator System[C]. Proceeding of The International Symposium and Exposition on Robots, 1988, 473-488.
[19] Fukuda. Cellular Robotic System(CEBOT) as One of the Realization of Self2organizing Intelligent Universal Manipulator[C]. Proceedings IEEE conference on Robotics and Automation, 1990, 662-667.
[20] Gregory. Kinematics of a Metamorphic Robotic System[C]. Proceedings IEEE conference on Robotics and Automation, 1994, 449-455.
[21] David B. Stewart, Richard A. Volpe, Pradeep K. Khosla. Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects[J]. IEEE Transactions on Software Engineering, 1997, 23(12): 759-776.
[22] P. P. Bonissone, V. Badami, K. H. Chiang, P. S. Khedkar, K. W. Marcelle. Industrial Application of Fuzzy Logic at General Electric[J]. Proc. IEEE, 1995, 83(3): 450-465.
[23] Linda Wills, Suresh Kannan, Sam Sander, et al. An Open Platform for Reconfigurable Control[J]. IEEE Control Systems Magazine, 2001, 6: 49-64.
[24] H. Benitez-Perez, F. Garcia-Nocetti. Reconfigurable Distributed Control Using Smart Peripheral Elements[J]. Control Engineering Practice, 2003, 11: 975-988.
[25] 郑应平．钱学森与控制论[J]．中国工程科学，2001，3(10)：7-12．
[26] Nilsson J. Principles of Artificial Intelligence[M]. Palo Alto: Tioga Publishing Company, 1980.
[27] Brooks R. A Robust Layered Control System for a Mobile Robot[J]. IEEE Journal of Robotics and Automation, 1986, 2(1): 14-23.
[28] Arkin R C. Motor Schema-based Mobile Robot Navigation[J]. Int. Journal of Robotics Research, 1989, 8(4): 92-112.
[29] 王耀南，李树涛．多传感器信息融合及其应用综述[J]．控制与决策，2001，16(5)：518-522．
[30] 杨秀珍，何友，鞠传文．多传感器管理系统研究现状与发展趋势[J]．传感器技术，2004，23(1)：5-8．
[31] Abraham Silberschatz, Henry E Kortla, S. Sudarshan. Database system Concepts(4~(th) Edition)[M]. Columbus: The McGraw-Hill Companies, 2002.
[32] 尹国成，张德干，朱红艳，赵海．基于熵模型的自适应信息融合方法[J]．东北大学学报(自然科学版)，2002，23(3)：232-235．
[33] F. N. Ali, P. K. Appani, J. L. Hammond, V. V. Mehta, D. L. Noneaker, H. B. Russell. Distributed and adaptive TDMA algorithms for multiple-hop mobile networks[C]. Proc. IEEE Military Communications Conf, 2002(1): 546- 551.
[34] 龚靖，张景绘，李新民．虚拟传感器及数据融合的发展[J]．机械科学与技术，2002．S1：57-60．
[35] 黄苏南，邵惠鹤，张钟俊．智能控制的理论和方法[J]．控制理论与应用，1994，11(4)：386-395．
[36] 张汝波，顾国昌，杨歌，郭轶尊．具有学习能力的智能机器人体系结构研究[J]．华中科技大学学报(自然科学版)，2004，10(32)：58-60．
[37] Pei Xin-zhe, Liu Zhi-yuan, Pei Run. Robust Trajectory Tracking Controller Design for Mobile Robots with Bounded Input[J]. Acta Automatica Sinica, 2003, 29(6): 876-882.
[38] Zou Xiao-bing, Cai Zi-xing, Sun Guo-rong. Non-smooth Environment Modeling and Global Path Planning for Mobile Robots[J]. Journal of Central South University of Technology, 2003, 10(3): 248-254.
[39] Koenig S, Likhachev M. Improved Fast Replanning for Robot Navigation in Unknown Terrain[A]. ICRA2002[C]. Washington, 2002: 968-975.
[40] 邹小兵．移动机器人原型的控制系统设计与环境建模研究[D]．中南大学博士学位论文，2005．
[41] Cai Zi-xing, Zou Xiao-bing, Wang Lu, Duan Zhuo-hua, Yu Jin-xia. A Research on Mobile Robot Navigation Control in Uknown Environment Objectives, Design and Experience[A]. 2004, Korea-Sino Symposium on Intelligent Systems[C]. Busan, 2004, 10: 57-63.
[42] 蔡自兴，邹小兵，王璐，段琢华，于金霞．移动机器人分布式控制系统的设计[J]．中南大学学报(自然科学版)，2005，36(5)：13-18．
[43] Yongxing Hao, Sunil K. Agrawal. Planning and Control of UGV Formations in A Dynamic Environment: A Practical Framework with Experiments[J]. Robotics and Autonomous Systems, 2005(51): 101-110.
[44] 张学工．关于统计学习理论与支持向量机[J]．自动化学报，2000，26(1)：36-46．
[45] 蔡自兴，周翔，李枚毅，雷鸣．基于功能／行为集成的自主式移动机器人进化 控制体系结构[J]．机器人，2000，22(3)：169-175．
[46] 唐钟，张葛祥．一种新并行遗传算法及其应用[J]．计算机应用与软件，2005，22(7)：9-11，71．
[2] Martin Fowler, Kent Beck, John Brant, William Oodvke, Don Roberts. Refactoring: Improving the Design of Existing Code[M]. Boston: Addison Wesley Longman, Inc., 1999: 53-54.
[3] 董选明，谭民．质量弹簧系统的重构和容错控制研究[J]．控制与决策，2000，15(1)：46-50．
[4] 葛彤，冯正平，朱继懋．分段重构控制策略[J]．自动化学报，2000，26(6)：807-810．
[5] 胡寿松，郭伟，张德发．歼击机结构故障的检测与自修复控制律重构[J]．航空学报，1998，19(6)：674-677．
[6] 李清，沈春林，郭锁凤．控制可重构飞机多变量鲁棒控制器设计[J]．控制理论与应用，2000，17(1)：133-135．
[7] 任章，唐小静，陈杰．基于输出反馈特征结构配置的重构控制系统设计[J]．控制理论与应用，2002，19(3)：356-362．
[8] Looze D P, et al. An Automatic Redesign Approach for Restructruable Control Systems[J]. IEEE Con. Sys. Mag., 1985, 5(2): 16-22.
[9] Sdchander R, Walker B K. Stochastic Stability Analysis for Continuous-time Fault Tolerant Control Systems[J]. Int. J. Control, 1993, 57(3): 433-452.
[10] 邹小兵，蔡自兴，孙国荣．移动机器人基于变结构的侧向控制设计[J]．中南工业大学学报(自然科学版)，2004，35(2)：262-267．
[11] 王源，胡寿松，吴庆宪．一类非线性系统的自组织模糊CMAC神经网络自适应重构跟踪控制[J]．2003，20(1)：70-77．
[12] 段然，樊晓桠，高德远，沈戈．可重构计算技术及其发展趋势[J]．计算机应用研究，2004．8：14-17．
[13] G Estrin, et al. Parallel Processing in a Restructurable Computer System[J]. IEEE Trans. Electronic Computers, 1963, 12: 7472-755.
[14] 李斌，吴镇炜，谈大龙，王越超．可重构机器人技术的探讨[J]．信息与控制，2001，30(7)：684-688，699．
[15] 王明辉，马书根，李斌，王超越，贺鑫元．可重构星球探测机器人控制系统的 设计与实现[J]．机器人，2005，27(3)：273-277．
[16] 张亮，赵杰，蔡鹤皋．自重构机器人的硬件设计及自重构规划研究[J]．东南大学学报(自然科学版)，2005，35(2)：243-247．
[17] 刘明尧，谭跃刚，周祖德，胡业发．可重构模块化机器人分布式控制算法研究[J]．武汉理工大学学报(信息与管理工程版)，2005，27(1)：6-9，21．
[18] Donald Schmitz. The CMU Reconfigurable Modular Manipulator System[C]. Proceeding of The International Symposium and Exposition on Robots, 1988, 473-488.
[19] Fukuda. Cellular Robotic System(CEBOT) as One of the Realization of Self2organizing Intelligent Universal Manipulator[C]. Proceedings IEEE conference on Robotics and Automation, 1990, 662-667.
[20] Gregory. Kinematics of a Metamorphic Robotic System[C]. Proceedings IEEE conference on Robotics and Automation, 1994, 449-455.
[21] David B. Stewart, Richard A. Volpe, Pradeep K. Khosla. Design of Dynamically Reconfigurable Real-Time Software Using Port-Based Objects[J]. IEEE Transactions on Software Engineering, 1997, 23(12): 759-776.
[22] P. P. Bonissone, V. Badami, K. H. Chiang, P. S. Khedkar, K. W. Marcelle. Industrial Application of Fuzzy Logic at General Electric[J]. Proc. IEEE, 1995, 83(3): 450-465.
[23] Linda Wills, Suresh Kannan, Sam Sander, et al. An Open Platform for Reconfigurable Control[J]. IEEE Control Systems Magazine, 2001, 6: 49-64.
[24] H. Benitez-Perez, F. Garcia-Nocetti. Reconfigurable Distributed Control Using Smart Peripheral Elements[J]. Control Engineering Practice, 2003, 11: 975-988.
[25] 郑应平．钱学森与控制论[J]．中国工程科学，2001，3(10)：7-12．
[26] Nilsson J. Principles of Artificial Intelligence[M]. Palo Alto: Tioga Publishing Company, 1980.
[27] Brooks R. A Robust Layered Control System for a Mobile Robot[J]. IEEE Journal of Robotics and Automation, 1986, 2(1): 14-23.
[28] Arkin R C. Motor Schema-based Mobile Robot Navigation[J]. Int. Journal of Robotics Research, 1989, 8(4): 92-112.
[29] 王耀南，李树涛．多传感器信息融合及其应用综述[J]．控制与决策，2001，16(5)：518-522．
[30] 杨秀珍，何友，鞠传文．多传感器管理系统研究现状与发展趋势[J]．传感器技术，2004，23(1)：5-8．
[31] Abraham Silberschatz, Henry E Kortla, S. Sudarshan. Database system Concepts(4~(th) Edition)[M]. Columbus: The McGraw-Hill Companies, 2002.
[32] 尹国成，张德干，朱红艳，赵海．基于熵模型的自适应信息融合方法[J]．东北大学学报(自然科学版)，2002，23(3)：232-235．
[33] F. N. Ali, P. K. Appani, J. L. Hammond, V. V. Mehta, D. L. Noneaker, H. B. Russell. Distributed and adaptive TDMA algorithms for multiple-hop mobile networks[C]. Proc. IEEE Military Communications Conf, 2002(1): 546- 551.
[34] 龚靖，张景绘，李新民．虚拟传感器及数据融合的发展[J]．机械科学与技术，2002．S1：57-60．
[35] 黄苏南，邵惠鹤，张钟俊．智能控制的理论和方法[J]．控制理论与应用，1994，11(4)：386-395．
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