網路型群組機器人之探索互助研究

Cooperation between Networked Multiple Robots for Exploration

王光傳(Thieu, Quang-Tuan)

指導教授 ： 傅立成

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2007年)

https://doi.org/10.6342/NTU.2007.00876

摘要

無資料

關鍵字

群組機器人 ； 合作 ； 無線對等式網路 ； 信號傳送 ； 連線維繫 ； 群播服務

並列摘要

In multiple mobile robot system, cooperation among robots usually executes through communication. With the advance in technology nowadays, each robot can be equipped with off-the-shelf wireless device following the standard IEEE 802.11. However, due to the limitation of transmission range as well as the complexity of environment and signal transmission, maintaining connection between a pair of robots while they are executing their tasks becomes difficult. We construct a wireless ad hoc network multi mobile robots system with consideration of continuous connection between two robots, the Leader and any Follower. Also, our algorithm can be applied to a group of mobile robots when we utilize the wireless environment to establish continuous sharing of information among the robots. In order to enhance the system’s performance, we build a communication framework using the multicast technique. By using this framework, one robot can easily exchange its data with others when coordination is needed. Furthermore, when keeping the connection between two robots, we enhanced the teaming stability of the whole system. Finally, with our framework we create a flexible mobile robot system in which every robot can minimize the energy in communication with the rest of team. The overall performance is validated in the simulation system and experiment.

並列關鍵字

Multiple mobile robot system ； cooperation ； wireless ad hoc network ； signal transmission ； maintain connection ； multicast

參考文獻

[1] Bryan J. Thibodeau, Andrew H.Fagg, and Brian N.Levine, “Signal Strength Coordination for Cooperative Mapping,” Technical report in Massachusetts Univ., Amherst. Dept. of Computer Science.

[3] Matthew Powers and Tucker Balch, “Value-Based Communication Preservation for Mobile Robots,” In 7th International Symposium on Distributed Autonomous Robotic Systems, 2004.

[4] Tucker Balch and Ronald C.Arkin, “Communication in Reactive Multiagent Robotic Systems,” In Autonomous Robots, 1, 1-25(1994).

[5] Jeffrey V.Nickerson “Robots and Humans Reconvening,” In 2004 IEEE International Conference on Systems, Man and Cybernetics.

[6] Patrick Ulam, Ronald C.Arkin .“When Good Comms Go Bad: Communications Recovery for Multi-Robot Teams”, In Proceedings of the 2004 IEEE International Conference on Robotics &Automation New Orleans, LA, April, 2004.