群組機器人實驗模組平台雛型製作與測試

目前國內的機器人相關文獻大多偏重於足球機器人和兩足機器人上，且多半採用單一機體操控的方式，此一模式對群組機器人控制而言，在執行的速度及複雜度上也較為緩慢且低。本研究採用履帶作為移動方式，並以一台母機協助監控三台子機，使用Visual Basic撰寫控制程式，配合無線CCD （charge-coupled device）攝影機，讓使用者可以利用電腦來監控遠端的景物，並使用ALTERA DE0控制板搭配現場可編程輯閘陣列(Field-Programmable Gate Arrays；FPGA)作為控制介面，並於履帶車上裝置超音波感測器、藍芽等物體移動檢知器、作為自走車自動巡航及避障的感測及控制，此外，自走車車體四周裝置八個超音波感測器，當感測器偵測出障礙物小於最低設定距離時，會進行避開障礙物的動作。由研究的結果得知，此一控制模式之群體機器人可執行複雜度和困難度較高的工作，且在執行效率上也較單一機體為佳。本文將以此一模式應用於火場救災為實例，作為本研究於實務應用上之探討。

關鍵字

群體機器人； FPGA ； DE0

並列摘要

Most investigation for mobile robots is aimed at Soccer Robots or Bipedal Robots in Taiwan. Researchers prefer to use single control board to manipulate robot. However, for ap-plication in group robots, the above control concept owns complexity and without efficiency. Therefore, a high efficiency multi-agent robot system to simplify the control structure is strongly desired. This proposed robot system in this thesis has one master set and three slave units. As a dual set robot, with Bluetooth and communication network, the master set can connect with slave units and send information back to computer by wireless and monitor. An ATERA DE0 control board is allocated with FPGA to set up a control database. Moreover, each slave robot is able to obstacle avoidance by equipped eight ultrasonic sensors. The ob-stacle avoidance for this paper is using the ultrasonic sensor to detect the block that it adapts reflecting split type ultrasonic sensors which can detect from 2cm to 3m. Realistic operation for the proposed multi-agent robot system has successfully verified in the real-time experiment. Consequently, the advantages of the proposed grouped robots can perform the high efficiency for the rescue tasks and so on.