多機器人派車系統設計

Design of Multi-Robot Dispatching System

王俊勝

《機械工業雜誌》 473期 (2022/08) Pp. 69-75

摘要

本文提出以資料為中心與邊緣運算的技術來設計系統架構，設計之系統可同時管理多台移動機器人，且能將運算量分散至各移動機器人運算單元上，提升整體運行效能。該系統以數據分發服務建置通訊網絡，可降低通訊延遲、減少封包遺失，並確保通訊服務的品質；開發合作式路徑規劃演算法，可確保多機器人在執行任務時彼此不會發生碰撞；開發網頁應用程式之路徑編輯器，使用者可跨平台編輯多機器人派車路徑。最後，除了透過此編輯器模擬驗證開發之合作式路徑規劃演算法外，也測試在各種情境下通訊網絡之通訊品質。

關鍵字

派車系統 ； 數據分發服務 ； 邊緣運算

並列摘要

This article proposes the data-centric and edge computing technology to design the system architecture. The designed system can manage multiple mobile robots at the same time, and can improve the system operation efficiency by distributing the amount of computing to each mobile robot controllers. The system builds a communication network based on Data Distribution Service (DDS) to reduce communication delays, packet loss and ensure the quality of communication services. Develop cooperative path planning algorithms to ensure that multiple robots do not collide with each other while performing tasks. User can edit multi-robot dispatching paths across platforms by using the web-based path editor. Finally, in addition to simulating and verifying the developed cooperative path planning algorithm through this path editor, it also tests the communication network quality in various situations.

並列關鍵字

Dispatching system ； Data distribution service ； Edge-computing

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