本文關(guān)鍵詞： 多智能體 ZigBee 智能小車 LabVIEW　出處：《東華理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：多智能體系統(tǒng)自出現(xiàn)以來一直是國際學(xué)術(shù)界的研究熱點(diǎn),經(jīng)過三十多年的研究發(fā)展,其理論研究日益完善,但是針對多智能體實(shí)際應(yīng)用系統(tǒng)的研究還是很少見。為了方便人們在復(fù)雜、危險(xiǎn)的特殊環(huán)境下進(jìn)行數(shù)據(jù)采集和管理,本文在確定系統(tǒng)體系結(jié)構(gòu)、通信方式和協(xié)調(diào)控制策略的基礎(chǔ)上,設(shè)計(jì)開發(fā)了一個(gè)具有一定通用性和擴(kuò)展性的多智能體協(xié)調(diào)控制系統(tǒng)。首先,為了滿足該系統(tǒng)的通信特點(diǎn),本文設(shè)計(jì)了一個(gè)基于ZigBee技術(shù)的無線通信系統(tǒng),系統(tǒng)使用5個(gè)CC2530設(shè)備,分別作為協(xié)調(diào)器、路由和終端節(jié)點(diǎn)。該通信系統(tǒng)通過對各個(gè)節(jié)點(diǎn)接口電路的設(shè)計(jì)完成了整個(gè)通信系統(tǒng)硬件平臺的搭建,系統(tǒng)中協(xié)調(diào)器和路由采用廣播的形式發(fā)送數(shù)據(jù),終端采用點(diǎn)播的形式發(fā)送數(shù)據(jù),同時(shí)系統(tǒng)進(jìn)行數(shù)據(jù)傳輸時(shí),僅需考慮是否有數(shù)據(jù)需要發(fā)送,無需考慮數(shù)據(jù)的發(fā)送格式,經(jīng)串口測試表明,該無線通信系統(tǒng)能夠滿足本文多智能體系統(tǒng)的通信要求。其次,進(jìn)行了單智能體設(shè)計(jì),即智能小車設(shè)計(jì)。本文共有三輛智能小車,這三輛智能小車主要包括電機(jī)驅(qū)動模塊、霍爾測速模塊、超聲波測距避障模塊、轉(zhuǎn)角識別模塊和ZigBee通信模塊,除此之外,其中一個(gè)智能個(gè)體還包括了機(jī)械手控制模塊和圖像采集模塊。本文選用了具有DSP功能的STM32F407芯片作為系統(tǒng)的核心處理器,使用了XL4501可調(diào)電源模塊作為總電源穩(wěn)壓模塊,采用了積分分離PID控制算法完成速度閉環(huán)控制,同時(shí)為了減小圖像數(shù)據(jù)的大小,本文選用標(biāo)準(zhǔn)JPG圖像格式進(jìn)行壓縮,為了使圖像數(shù)據(jù)適應(yīng)ZigBee通信特點(diǎn),本文對圖像壓縮數(shù)據(jù)進(jìn)行數(shù)據(jù)分包。最后,本文針對系統(tǒng)的多任務(wù)管理的問題,設(shè)計(jì)了一個(gè)基于LabVIEW的遠(yuǎn)程人機(jī)監(jiān)控系統(tǒng),它主要是通過VISA節(jié)點(diǎn)與智能體進(jìn)行串行通信。該人機(jī)監(jiān)控系統(tǒng)設(shè)計(jì)了預(yù)設(shè)智能體軌跡的界面、機(jī)械手手動控制和3D模擬、圖像處理與顯示、智能體遠(yuǎn)程控制界面以及智能體其他狀態(tài)顯示界面,其中為了能更好的識別圖像信息,本文使用了圖像二值化,二值圖像在進(jìn)行計(jì)算機(jī)識別時(shí)可以增加識別效率,方便提取圖像中的信息。本文所設(shè)計(jì)的多智能體協(xié)調(diào)控制系統(tǒng)在實(shí)驗(yàn)室進(jìn)行了靜態(tài)測試、模塊測試及系統(tǒng)測試,測試結(jié)果表明,該系統(tǒng)能夠很好地實(shí)現(xiàn)環(huán)境數(shù)據(jù)采集,無線通信和遠(yuǎn)程控制。
[Abstract]:Since the emergence of multi-agent system has been the focus of international academic research, after more than 30 years of research and development, its theoretical research is increasingly perfect. In order to facilitate people to collect and manage data in complex and dangerous environment, this paper determines the system architecture. On the basis of communication mode and coordinated control strategy, a multi-agent coordinated control system with certain generality and expansibility is designed and developed. Firstly, in order to meet the communication characteristics of the system. A wireless communication system based on ZigBee technology is designed in this paper. The system uses five CC2530 devices as coordinator. The communication system completes the hardware platform of the whole communication system by designing the interface circuit of each node. In the system, the coordinator and the route send the data in the form of broadcast. The terminal transmits data in the form of on-demand, and when the system transmits data, it only needs to consider whether there is data to be sent, no need to consider the sending format of data, which is demonstrated by serial port test. The wireless communication system can meet the communication requirements of this multi-agent system. Secondly, the single-agent design, that is, the intelligent car design. There are three intelligent vehicles in this paper. These three intelligent vehicles mainly include motor driving module, Hall speed module, ultrasonic ranging obstacle avoidance module, corner recognition module and ZigBee communication module, in addition. One of the intelligent individuals also includes manipulator control module and image acquisition module. In this paper, STM32F407 chip with DSP function is selected as the core processor of the system. The XL4501 adjustable power supply module is used as the total power supply stabilizing module, and the integral separation PID control algorithm is used to complete the speed closed-loop control, and in order to reduce the size of the image data. In this paper, the standard JPG image format is selected for compression. In order to adapt the image data to the characteristics of ZigBee communication, this paper subcontracts the image compression data. Finally. Aiming at the problem of multitask management, a remote man-machine monitoring system based on LabVIEW is designed in this paper. The interface of preset agent trajectory, manual control of manipulator and 3D simulation, image processing and display are designed. Agent remote control interface and other agent state display interface, in order to better identify the image information, this paper uses image binarization. The binary image can increase the recognition efficiency and extract the information from the image easily. The multi-agent coordinated control system designed in this paper has been static tested in the laboratory. The test results show that the system can achieve environmental data acquisition, wireless communication and remote control.
【學(xué)位授予單位】：東華理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP18;TP13

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