Multi-robot tele-operation system based on multi-agent structure

摘要

Based on the multi-agent structure, multi-robot tele-operation through the Internet can be realized effectively with the integration of the operators' intelligence and local autonomous ability of the robots. Intelligent assignment between the operators and the robots in tele-robots system is discussed first and a multi-agent structure based on shared control mode is presented as a system control method. Then layered structure of an agent with public attributes is presented, and agent node structure for local problem solver and collaborative communication is depicted. Functional descriptions of each sub-agent in an agent are also discussed. System architecture is realized based on distributed layered blackboard and multi-agent structure. A set of auxiliary medical experiments is designed to test the feasibility and effectiveness of the tele-robots system by discussing the work state and efficiency of real-time collision avoidance agent.