植基於Zigbee之主僕式機器人通訊與定位控制

Abstract

近幾年來全球機器人蓬勃發展，較多危險及費力的工作都逐漸被機器人取代以改善生活的便利性。然而隨著機器人的任務及環境逐漸複雜化，其裝載的元件逐漸增加，於是利用群組機器人藉由團隊合作及協調等特性，來改善任務的複雜度。由於群組機器人擁有資訊分享之功能，使其擁有比單一機器人更大的優勢，且在執行任務的效率上也相對較高。 群組機器人主要是藉由中央控制發出指令讓各個機器人能夠完成任務；因此，本論文發展出一個運用主僕式之架構協調多機器人系統，擁有完整的通訊與定位模式來執行路徑規劃，使主僕式移動機器人能夠於未知障礙物的環境中自主互相通訊，藉由通訊方式傳送彼此於環境中的位置，最後透過協調與路徑規劃到達目的地完成指定任務。我們利用一主二僕機器人做5種不同環境的路徑規劃進行實驗，其中包含不規則排列之障礙物。實驗結果顯示所提出之演算法能有效達成目標。In recent years, robots have grown vigorously worldwide. In order to enhance the convenience of life, there have been more and more dangerous and laborious tasks gradually replaced by robots. While the type of tasks and the environment becomes more and more complex, the components loaded on robots are also increased. It is more efficient to utilize the characteristics of group robots, like teamwork ability and coordination ability, to decrease the complexity of tasks. Because they are able to share the information with each other, group robots are more advantageous and efficient than individual robots in implementing tasks. Group robots mainly send out the order to each individual robot by central controlling, and then command each robot to complete tasks. Therefore, this study constructed a Master-Slave structure to coordinate the Multi-Robot system with a model of communication and localization, and to carry out route planning. Master-Slave Multi-Robot could automatically communicate with each other in unknown environment of barriers, convey one’s position to others, plan routes to reach the destination, and finally complete the assigned tasks. The model of one master and two slaves was used to do routing in five different environments with barriers. The experimental results showed that the purposed algorithm can reach the goal efficiently.