無線網路頻寬控制於多機器人合作之應用

Bandwidth Control Based on Wireless LAN for Applications in Multi-robot Cooperative System

游名沂(Ming-Yi Yu)

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(2005年)

https://doi.org/10.6342/NTU.2005.01363

摘要

在多群組機器人系統裡，同一時間將可能被分成數個子群體，而各個子群體所執行任務的可行性與流暢度取決於通訊品質的好壞，過大的資料傳遞延遲將可能使的任務合作失敗或執行效果不如預期，因此，依現今的無線網路架構下，提出了一個網路頻寬控制的機制，此一網路頻寬控制機制將可動態地依據任務或是各個群體的需求有效率地分配有限的網路資源，使的多群組機器人系統之合作可以有效率地被完成。在網路控制系統裡(NCS)的資料包括系統狀態與控制命令皆是以週期性的方式產生，此一周期性的資料傳遞特性將是在設計網路頻寬控制機制時最重要的效能指標。
在此網路頻寬控制機制裡，所有機器人的資料傳遞時機皆由一個網路控制器所控制，每隔一個網路控制器的週期時間，機器人所得到的頻寬將會依據任務的優先權與子群體的需求而被重新分配。而在每個機器人裡的封包排程器裡依據網路控制器的分配對每個資料流以週期性為指標做封包排程。透過模擬，此一網路頻寬控制機制成功的在網路控制系統下將多倒單擺控制良好。最後，經由實地測試可以驗證此一網路頻寬控制機制在無線網路系統中之可行性與效果。

關鍵字

無線網路 ； 多群組機器人 ； 頻寬分配 ； 封包排程

並列摘要

In multi-robot systems, mobile robots may be separated into several cooperative sub-groups. The smoothness and reliability of task execution in respective sub-groups rely on the quality of communication. Too large transmission latency may cause the failure of successful execution of given tasks or lower effectiveness in cooperation than being expected. This thesis mainly focuses on building a network bandwidth control scheme (NBCS) based on the existing Wireless LAN systems. This NBCS can dynamically allocate the valuable network bandwidth to cooperative sub-groups according to the overall assigned tasks. With the feed back packets interval, the NBCS forms a typical control system and fuzzy control theory is adapted in the network controller.

In the NBCS, data transmission in each robot is managed by a Network Controller. The bandwidth for each robot will be reallocated by the Network Controller in accordance to its assigned tasks’ priority or the demands of the cooperative sub-groups. The packet schedulers in each robot will arrange the transmitting order for each data flow with the crucial property, “periodicity”. In the simulation, the multiple inverted pendulum system can be controlled well by the NBCS. Through experiments, the effectiveness of this scheme can be verified under Wireless LAN framework.

並列關鍵字

Wireless LAN ； Multi-robot System ； Bandwidth Allocation ； Packet Scheduler

參考文獻

[3] F. L. Lian, J. Moyne, and D. Tilbury, “Performance Evaluation of Control Networks,” IEEE Control Systems Magazine, Vol. 21, No 1, Page(s): 66–83, 2001.

[5] A. Willig, “Wireless LAN Technology for the Factory Floor,” The Industrial Information Technology Handbook, CRC Press, Vol. 1, 2005.

[7] L. Rauchhaupt, “Radio Communication in Automation Systems: the R-fieldbus Approach,” In proceedings of IEEE International Workshop on Factory Communication Systems, Page(s): 319-326, 2000.

[8] A. Willig, “Polling-based MAC Protocols for Improving Real time Performance in a Wireless PROFIBUS,” IEEE Transaction on Industrial Electronics, Vol. 50, No. 4, Page(s): 806–817, 2003.

[9] G. A. Halls, “HIPERLAN: The High Performance Radio Local Area Network Standard,” IEEE Journal on Electronics & Communication Engineering, Vol. 141, Page(s): 289–296, 1994.