Abstract: An agent control system based JADE（a widely used Java agent development framework） is designed for mobile robots.Adopting JNI（Java Native Interface） technique，the agent programmed with pure Java language can control the hardware of robot.The reactive behaviours of trajectory generating，motion control，pose estimate and security control，are programmed in motion control card to improve real time performance，the database management and path planning behaviours are in PC104 onboard computer and the HMI（Human Machine Interface） agent is suited in position machine.The approach has broad prospect in industrial control field with Java agent has an ability of hardware realtime processing，and the experiment is given to demonstrate the feasibility.

摘要： 针对移动机器人的任务和硬件组成，提出了基于Java 开发平台的Agent控制系统设计方法。以目前应用较广泛的JADE作为Agent开发平台，采用JNI方法实现了Agent与硬件系统的交互。在运动控制卡上设计了有实时性要求的轨迹生成、运动控制、位姿估计和安全控制等4个行为任务，将数据库和路径规划等管理性行为设计在车载PC104工业控制计算机上。人机交互界面可作为独立的Agent驻留在上位监控计算机上。这种方法结合了Java Agent开发平台的普遍性和工业控制的实时性，实验证明了该方法的可行性。