利用通訊資料設計多群組仿生體之移動演算法

Movement Algorithm in Biomimetic Multi-Robot Systems Using Communication Data

許瑋豪(Wei-Hao Hsu)

指導教授 ： 連豊力

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2005年)

https://doi.org/10.6342/NTU.2005.00583

摘要

近幾年來，多群組機械系統被廣泛的利用在各種工程領域裡面，例如軍事行動的事先偵查、太空行星的探勘或者是地圖的製作，都是多群組機械系統非常典型的應用。而本論文所要探討的主題是集中在使一隊的多群組機械可以進行探勘、搜尋和聚集方面的行為。
本論文提出一個讓多群組機械可以在未知環境下進行聚集跟分散行為的移動演算法，而這個演算法的主要判斷資訊是一些容易取得的通訊資訊，多群組機械在這個演算法裡的行為是模仿自然界生物的行為模式，而有著生物行為模式的機械我們稱它為仿生機械。對於進行一個探勘的任務時，在一個未知的環境裡面仿生機械會套用分散移動演算法盡可能的去分散然後蒐集有關環境的資訊。對於一個聚集的任務時，仿生機械會套用聚集移動的演算法去移動到同一個小區域以方便仿生機械的回收或者一起搬運目標物等行為。而這裡所提到容易取得的通訊資訊是指不用再進行額外的步驟或者是加裝其他感測器或儀器就可以取得的資訊。例如：可以和自己通訊的仿生機械的數目和彼此可互相通訊的兩隻仿生機械之間大概的距離，都會被利用來發展這個演算法。
本論文中首先介紹有關多群組機械、生物的行為模式和無線通訊架構的觀念。其次討論根據利用簡單易得的資訊讓多群組仿生機械可以進行分散和聚集等行為的移動演算法。最後提出模擬結果來佐證這個演算法，以及一些實際硬體的實驗來證明這個演算法的可行性。

關鍵字

多群組機械系統 ； 仿生機械人 ； 通訊資料 ； 分散移動 ； 聚集移動

並列摘要

In recent years, multi-robot systems have a broad range of applications in the engineering field. For example, military reconnaissance, planetary exploration, and geophysical mapping are typical applications of multi-robot systems. The objective of this thesis focuses on the exploration and the foraging and concentration of a multi-robot team.
This thesis proposes a dispersion movement algorithm and a concentration movement algorithm for multi-robots in an unknown environment. The judging information of these two algorithms is easily got information through communication. The action of the movement algorithm is based on the study of the group behaviors of biological systems. For the exploration task, bio-robots apply the dispersion movement algorithm to spread out in an unknown environment as wide as possible in order to collect information about the exploratory area. For the concentration task, bio-robots apply the concentration movement algorithm to move to the same place for retrieving the exploratory robots or transporting the target. The easily got information means that it can be got without other redundant steps or equipping other sensor or instrument. Particularly, the number of neighbors and the rough distance between two bio-robots are used to develop the algorithm.
In this thesis, the multi-robot systems, the behaviors of biological systems, and the wireless communication architecture are introduced first. Second, the proposed movement algorithms developed by the easily got communication information in multiple bio-robots are discussed. Finally, the analysis of the movement algorithm is studied with simulations and the algorithm is also implemented on the hardware of CC1010 to show the feasibility of the algorithm.

並列關鍵字

Multi-robot system ； bio-robots ； communication data ； dispersion movement ； concentration movement.

參考文獻

Chipcon, “CC1010IDE Integrated Development Environment User Manual,” http://www.chipcon.com/, 2002

[3: Coutinho et al. 2004 ]

Fernanda Coutinho, Jorge Barreiors, and Jose Fonseca, “Choosing Paths that Prevent Network partitioning in Mobile Ad-hoc Networks,” Proceeding of IEEE International Workshop on Factory Communication System, pp. 65-71, Vienna, Austria, sep. 2004.

[4: Farinelli et al. 2004]

[5: Goyal and Caffery 2002]