Based Vxworks Smart Robot Software System Support Platform

The concept of Multi-Agent comes from DAI (Distributed Artificial Intelligence). Multi-Agent Robot is one of its applications in the field of robotics. This paper does some research on Multi-Agent robot SSP (Software system Support Platform) and realizes the platform partially. The design of the platform is based on Multi-Agent system theory and our lab's research project -- PAMR (Pedrail Autonomous Mobile Robot).Firstly, this paper introduces the concept of agent and MARS(Multi-Agent Robot System), and investigates its system architecture model. A tree structure model of multi-layer agent is proposed. Then, Combining with this tree structure model, the characteristic of embedded system and the distributed hardware system of PAMR, SSP is developed. The platform locates between real-time operating system VxWorks and robot top software system. It provides top software system with steady crystal run environment and interaction interface. SSP provides top software system with service of run control, memory management, security guarantee, message communication, system scheduling etc. Besides, the compatibility of this platform ensures the replantation of application system.The software model of SSP is designed , and the components of the model are discussed in detail in this paper. In the last two chapters, message communication and scheduling mechanism are mainly investigated.