多智能体机器人嵌入式控制平台设计与实现

distributed control system based on 32-bits embedded system was designed and implemented for heterogeneous Agent cooperation study. In order to overcome the inherent problems existing in traditional close control system, open and modular hardware architecture was applied, expended functional modules by IIC bus on base of ARM core module. Function modules to AVR microcontroller core module functions independently. Software system uses a hybrid architecture，Top to Down and hierarchical design method were applied in software architecture design on base of embedded Linux platform. Functional modules based on multi-task and reliable TCP protocol on multi-robot communication mechanism and management. In order to overcome problems in strategies flexible transform, interpretative scripting language was introduced. Blackboard and point-to-point combination of multi-robot collaborative modes of communication were used. Experiments show that the system has a good open for heterogeneous design, features expansion of human-machine hybrid control and multi-robot cooperation provides a reliable platform.