An Architecture for the Competitive Networked Robot System

摘要

A hierarchical architecture is developed for the competitive networked robot system,in order to provide a general platform for competitive networked robot systems with strong interaction.In the proposed architecture,the function of strategic layer is to recognize opponent’s intention,estimate threat and generate strategy.To deal with the uncertainty in perception caused by the noise and time-delay,and that in action caused by the hostile action from the opponents,the executive layer is adopted in this architecture.The physical interface layer is used to transfer the command from executive layer into bottom command which can control robots.A typical task with high degree of opposition of competitive networked robot,named Tele-LightSaber(TLS),is proposed for the research on competitive networked robots.Finally,experimental results on TLS platform show the practicality and advantages of the proposed method.