基于Zigbee和Labview的多智能体协调控制系统

发布时间：2018-01-24 16:11

本文关键词： 多智能体 ZigBee 智能小车 LabVIEW　出处：《东华理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：多智能体系统自出现以来一直是国际学术界的研究热点,经过三十多年的研究发展,其理论研究日益完善,但是针对多智能体实际应用系统的研究还是很少见。为了方便人们在复杂、危险的特殊环境下进行数据采集和管理,本文在确定系统体系结构、通信方式和协调控制策略的基础上,设计开发了一个具有一定通用性和扩展性的多智能体协调控制系统。首先,为了满足该系统的通信特点,本文设计了一个基于ZigBee技术的无线通信系统,系统使用5个CC2530设备,分别作为协调器、路由和终端节点。该通信系统通过对各个节点接口电路的设计完成了整个通信系统硬件平台的搭建,系统中协调器和路由采用广播的形式发送数据,终端采用点播的形式发送数据,同时系统进行数据传输时,仅需考虑是否有数据需要发送,无需考虑数据的发送格式,经串口测试表明,该无线通信系统能够满足本文多智能体系统的通信要求。其次,进行了单智能体设计,即智能小车设计。本文共有三辆智能小车,这三辆智能小车主要包括电机驱动模块、霍尔测速模块、超声波测距避障模块、转角识别模块和ZigBee通信模块,除此之外,其中一个智能个体还包括了机械手控制模块和图像采集模块。本文选用了具有DSP功能的STM32F407芯片作为系统的核心处理器,使用了XL4501可调电源模块作为总电源稳压模块,采用了积分分离PID控制算法完成速度闭环控制,同时为了减小图像数据的大小,本文选用标准JPG图像格式进行压缩,为了使图像数据适应ZigBee通信特点,本文对图像压缩数据进行数据分包。最后,本文针对系统的多任务管理的问题,设计了一个基于LabVIEW的远程人机监控系统,它主要是通过VISA节点与智能体进行串行通信。该人机监控系统设计了预设智能体轨迹的界面、机械手手动控制和3D模拟、图像处理与显示、智能体远程控制界面以及智能体其他状态显示界面,其中为了能更好的识别图像信息,本文使用了图像二值化,二值图像在进行计算机识别时可以增加识别效率,方便提取图像中的信息。本文所设计的多智能体协调控制系统在实验室进行了静态测试、模块测试及系统测试,测试结果表明,该系统能够很好地实现环境数据采集,无线通信和远程控制。
[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.
【学位授予单位】：东华理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP18;TP13

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