网络机器人分布式智能控制体系

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1、Teleoperation.Toprovideasoftwareplatformforroboticdistributedcomputingandabasementfororganizingcomponentsofrobotsystem,aRoboticDistributedComputingInfrastructureisdesignedandrealizedintheDAIR.ImplementedbasedonthedistributedobjectmethodsandRemoteMetho

2、dInvocation,itprovidestherealizationbasisoftheproposedMissionandBehaviorbasedTeleoperationandDistributedAutonomousPerceptionStrategy.ExperimentsaredescribedtodemonstratethefeasibilityandeffectivenessoftheMissionandBehaviorbasedRoboticTeleoperation.Tou

3、tilizetheInternetasinformationandcomputingresourcesofroboticsystem,anovelDistributedAutonomousPerceptionStrategyisproposedintheDAIR,toimprovetheautonomyandteleoperationperformance.TheDistributedAutonomousPerceptionStrategyextendstheautonomousabilityin

4、totheperceptionprocess,toenablerobotautonomouslysearch,discover,andutilizeexternalnetworksensors,whichcanhelptherobotinperformingtasks.TheJinitechniqueisintroducetorealizetheSpontaneousandPlug-and-PlayConnectionMechanism,whichistheimplementationbasiso

5、ftheproposedDistributedAutonomousPerceptionStrategy.ExperimentsaredescribedtodemonstratethefeasibilityoftheDistributedAutonomousPerceptionStrategy,anditseffectivesinimprovingtheautonomyofInternetbasedrobot.Finally,thisthesisdescribedtheconstructionoft

6、heInternetbasedRoboticExperimentPlatformintheResearchCenterforIntelligentRoboticsatShanghaiJiaoTongUniversity.Thisexperimentplatformemployedmobilerobotandexternalnetworkvisualsensorstodesigntheroboticteleoperationexperiments.Itcandemonstratethefeasibi

7、lityandeffectivenessoftheproposedGenericFrameworkofRobotArchitecture,MissionandBehaviorbasedRoboticTeleoperation,RoboticDistributedComputingInfrastructureandDistributedAutonomousPerceptionStrategyintheDAIR.KEYWORDS:Internetbasedroboticsystem,behaviorb

8、asedrobotics,distributedcomputing;autonomousrobotics;spontaneous(ad-hoc)connection.上海交通大学学位论文原创性声明本人郑重声明所呈交的学位论文是本人在导师的指导下独立进行研究工作所取得的成果除文中已经注明引用的内容外本论文不包含任何其他个人或集体已经发表或撰写过的作品成果对本文的研究做出重要贡献的个人和集体均已在文中以明确方式标明本人完全意识到本声明的法律结果由本人承担学位论文作者签名侯雪桥日期200