| 摘要: |
| 实时环境下的问题求解是近年来规划问题研究感兴趣的话题.在讨论了实时规划算法同传统离线规划算法之间的不同之后,提出了一个实现实时规划的统一框架,同时具体阐述了框架中的各个模块.通过框架构造出的调度系统可以适应实际环境的需要,在规定时间内解决系统提出的要求,并能较好地解决不确定性.此外,在框架模型指导下构造了智能装配机器人实时调度系统,并给出了实验结果.最后,给出结论,并且简单地讨论了实时规划算法求解问题的策略以及今后的发展方向. |
| 关键词: 规划,任意时间算法,实时调度,不确定性,成组技术,实时监控. |
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| 基金项目:本文研究得到国家863高科技项目基金资助. |
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| Real-time Problem Solving Framework |
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CHEN Zheng,ZHANG Bo
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| Abstract: |
| Real-time problem solving is an interesting topic in planning in the recent years. Besides discussing the differences between real-time scheduling and off-line scheduling, a real-time scheduling framework is proposed and some pivotal technologies are discussed in this paper. This framework can deal with uncertainty in real-time environment and output approximate solution in given time. Based on this framework, an intelligent assembly robot system is built, and through some experiments this framework is proved to do well in real-time environment. After all, the conclusion is given out, and the policy of real-time planning problem solving algorithm simply and the possible developments in the future are discussed in this paper. |
| Key words: Planning, anytime algorithm, real-time scheduling, uncertainty, group technology, real-time monitoring. |
