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摘要：本课题主要研究救援机器人系统在道路上应用的软件设计，系统可以看成是基于无线网由多智能体构成智能交通系统。采用多智能体协作可以应对救援现场的各种情况，且相比单个多功能机器人系统冗余性更强，工作效率更高且成本更低。系统采用分布式控制思想，即每个智能体都是可以独立工作的个体。相较集中式的系统而言，分布式系统的控制较为复杂但冗余性强。多智能体的通讯采用802.11即WIFI通信，网络结构为树状结构，定位则是使用GPS定位。可题最后实现各车之间相互通信，互相掌握位置信息，以此来达到聚集跟随等基本任务。
本课题中以stm32f103ZET6为控制器的智能车作为智能体代替真实车辆。WIFI与GPS均使用了正点原子的模块实现，本课题是团队课题中的软件设计部分，采用基于stm32f1官方标准库的编程。运动由通过STM32输出PWM进行控制两个伺服电机实现。69791
在多智能体之间设计了上位机用于监控管理，人机交互和充当信息交互的中转站，为了方便调试上位机加入了手动按键控件来控制智能车的上下左右移动。上位机基于c#.net，由VS2015编写。
经过实验，基于WIFI和GPS的分布式多智能体系统能完成聚集等基本任务
关键字：多智能体；分布式系统；stm32；WIFI；GPS
Software design and implementation of robot rescue system
Abstract：The mainly studies of this topic is the software design of the rescue robot system on the road. The system can be regarded as an intelligent traffic system Composed of multi agents based on the wireless network. Multi agent cooperation can deal with various situations in the rescue scene, and compared with a single multi-function robot system, the system has the advantages of stronger redundancy, higher efficiency and lower cost. The system adopts the idea of distributed control, that is, each agent is an inpidual that can work independently. Compared with centralized systems, the control of distributed systems is more complex, but more redundant. Multi agent communication uses 802.11 or we said WIFI communication, tree structure is used as the network structure, and the positioning is using GPS positioning. Finally, each vehicle can communicate with each other and master the location information, so as to gather, follow and other basic tasks.
In this topic, the intelligent vehicle with stm32f103ZET6 controller is used as the agent instead of the real vehicle. WIFI and GPS both use the module of "punctual atom" to realize. This topic is the software design part of the team project. The movement is realized by two servo motors and controlled by STM32 output PWM.
In multi-agent PC is designed for monitoring and management, human-computer interaction and information interaction as a transit station, in order to facilitate debugging PC add manual button control to control the smart car moving around. The host computer is based on c#.net and written by VS2015.
Through experiments, distributed multi-agent systems based on WIFI and GPS can accomplish the basic tasks, such as clustering
Keywords: multi-agent; distributed systems; WIFI;GPS
目 录
1.绪论 ..1
1.1本课题的背景及意义 1
1.3 发展趋势 2
2.系统整体设计 4
2.1 控制结构 4
2.2通讯网络设计 5
2.2.1 通信技术的选择 5
2.2.2 网络结构设计 6
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