| 基于TPN的自治与遥控融合的SR共享自主控制研究 |
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| 引用本文： | 李华忠,梁永生,郑洪英,吴险峰.基于TPN的自治与遥控融合的SR共享自主控制研究[J].深圳信息职业技术学院学报,2012(1):1-7. |
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| 作者姓名： | 李华忠 梁永生 郑洪英 吴险峰 |
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| 作者单位： | 深圳信息职业技术学院软件学院 |
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| 基金项目： | 深圳科技计划项目[JC201006020820A,JC201006020791A];深圳信息职业技术学院科技创新团队项目[CXTD2-002] |
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| 摘 要： | 针对空间机器人（Space Robots,SR）共享自主控制（Shared Autonomous Control,SAC）面临的模式平稳转换问题,首先讨论了SAC的概念及其操作模式;其次研究了SAC操作模式的相互转换及基于时间Petri网（Timed Petri Nets,TPN）的模式转换方式;最后设计了一种基于TPN的SR虚拟环境仿真系统,并通过计算机虚拟仿真实验验证了自主与遥控融合的SAC操作模式及其模式转换顺序的有效性。
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| 关 键 词： | 共享自主控制 空间机器人 时间Petri网 操作模式 遥控 虚拟环境仿真 |
Research on the Shared Autonomous Control of Space Robots:Integration of Autonomy and Tele-operation Based on TPN |
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| LI Huazhong,LIANG Yongsheng,ZHENG Hongying,WU Xianfeng.Research on the Shared Autonomous Control of Space Robots:Integration of Autonomy and Tele-operation Based on TPN[J].Journal of Shenzhen Institute of Information Technology,2012(1):1-7. |
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| Authors: | LI Huazhong LIANG Yongsheng ZHENG Hongying WU Xianfeng |
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| Institution: | (School of Software Engineering,Shenzhen Institute of Information Technology,Guangdong 518172,China) |
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| Abstract: | This paper is a study on the smooth change of the operation modes in space robots’(SR) shared autonomy control(SAC) system.We first discuss the concept of SAC,its operation modes,their change sequence,and the mode changing model based on Timed Petri Net(TPN).Then,we proceed to design a virtual environment simulation system for SR based on TPN.Finally,we verify the validity of the proposed operation modes and their change sequence by means of computer virtual simulation experiment. |
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| Keywords: | shared autonomous control space robots timed petri nets teleoperation virtual environment simulation |
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