無線電源傳輸機器人情境基於使用基因演算法求解旅行銷售員問題

Scenario based Design of Wireless Power Transmission Robot using Genetic Algorithm for Travelling Salesman Problem

孟誼(Shidujaman, Mohammad)

指導教授 ： 乎曼薩馬尼

國立臺北大學/電機資訊學院/電機工程學系/碩士(2014年)

摘要

論文提要內容：
行動機器人與無線充電傳輸在這個將裝置持續縮小化且多用途結合的數位時代是人類兩個最新的議題。本文的研究是關於無線充電機器人，嘗試利用實務上多種不同的情境來發展更先進的無線充電機器人，在此研究中會介紹一新型的系統是將無線充電傳輸與行動機器人做組合。為了有效率的在充滿電池節點的網絡中進行充電，行動機器人會搭載無線充電裝置與導航裝置在該環境運行。本文指出在過去的研究中有為了取代傳統的攜帶充電器的方式，有了導航搭載充電器的多功能系統的設計與發展。雖然在這個領域上已經有些理論的研究，但運作實體的雛形尚未發展完成，因此本文將專注實際應用上。本文從現有的無線電源傳輸科技進行研究，接著將行動機器人與無線感應式電力傳輸標準QI相容。完整的雛型架構，包含軟體及硬體面向都會呈現在此篇研究，另外更多的未來設計概念會基於使用者的觀點出發. 本文相信此架構是由理論到實務的實現，可以是帶來實用科技的試驗台。新型的無線充電機器人利用遺傳演算法針對導航旅行業務員問題再複雜的環境來導航出較好的最短路徑。

關鍵字

遺傳演算法 ； Qi標準 ； 機器人充電 ； 自主式導航 ； 行動機器人 ； 無線電力傳輸 ； 旅行業務員問題

並列摘要

Mobile robotics and wireless power transmission are the two recent talk of the topics in this digital era of human being where technologies are continually transferred into a micro particle with the multi combination for better usage. In this research a novel system is introduced as combination of state of the art in the field of wireless power transmission and mobile robotics. A mobile robot is equipped with wireless charger and navigates in the environment of various battery nodes in order to charge the network in an efficient way. The presented research in this paper illustrates design and development of real functional system with the aim to change the traditional way of carrying the battery to charger into navigating the charger to batteries. Even though some theoretical research on this field was available however the working prototype has been not developed yet hence we focused on the practical application and brought the concept into practice. We initiated the research by reviewing the existing wireless power transmission technologies and later on equipped mobile robots with QI standard compatible WPT. The complete prototype architecture from both the hardware and software aspects is presented in this paper. We believe such architecture can be a useful testbed for bringing such technology from theory to practice. Genetic algorithm for travelling salesman problem which has used for the better navigation and localization to find the shortest path in the complex situation for the newly built wireless power transmission robot.

並列關鍵字

Travelling Salesman Problem ； Genetic Algorithm ； Robot charging ； QI standard ； Autonomous Navigation ； Mobile robot ； Wireless Power Transmission

參考文獻

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