救災群組機器人之開發製作

本文提出應用於救災環境之群組機器人，包括一台母機與三台子機。當救災環境是不適合人員出入的場所，例如病毒感染的封閉建築物內或是有害液體外洩的廠區，此時就可以出動吾人所提出的群組機器人先行進入救災環境，將即時的影像及資訊立刻傳達，讓救災環境外的救災人員瞭解現場狀況。採用子母式群體機器人架構，利用無線藍芽傳輸方式，讓母機與子機群溝通，母機再透過無線網路與監控端電腦溝通，我們則可透過遠端電腦得知救災情況。而每台子機各有其功能，並配置距離感測器，讓子機可自我避障，再配合電子羅盤及馬達編碼器以計算行走距離及座標，將偵測到的牆壁與障礙傳輸至母機。母機則整合各子機資訊並繪製地圖，如此除可探勘未知地形外，亦可藉由群體機器人之合作，增加探勘與搜尋之效率。

關鍵字

群體機器人；自我避障；救災；子母式群體機器人

並列摘要

In this paper, a multi-agent type robot for disaster response in calamity scene is proposed.The multi-agent rescue of dual set robot consists of one main set and three sub devices. The plan for this rescue robot is going to detect at harmful environment where human is unreachable, such as the building is infected with virus or the factory has hazardous liquid in effluent. As a dual set robot, with Bluetooth and communication network, the main set can connect with sub devices and send information back to computer by wireless and monitor. Therefore, rescuer can be informed the real-time information in a calamity area. Further, each sub device is able to obstacle avoidance by ultrasonic sensors, and encodes distance and location by compass. The main set can integrate every devices information to increase the efficiency of prospected and research unknown area.