夜視型自主式群組校園巡邏機器人之研究－總計畫暨子計畫二：基於Petri net理論之群組夜間巡邏機器人之分散式系統(III)

Abstract

本研究計畫將以派屈網路為理論基礎研究群組巡邏機器人之架構與控制。本 計畫將以派屈網路理論研究夜視型群組巡邏機器人之系統，並以模糊派屈網路直 接控制夜視型群組巡邏機器人之單機〈行動，以期能夠實現分散式網路控制之概 念。本計畫於此處所謂的分散式網路控制，意即透過網路通訊來有效且適切的連 絡整個分散式系統，每個單一機器人之間的通訊是透過無線網路來達成。此計畫 為期三年，第一年：探討派屈網路如何建構單一機器人架構模型，使用派屈網路 模擬單一機器人架構並建立模型，描述機器人可展現的動態〈行為，並且利用模糊 派屈網路對於單機器人進〈行控制。第二年：根據第一年之派屈網路單機模型分析 結果，建立派屈網路為基底的群組機器人架構模型，研究相互之間的動態〈行為， 並進〈行各單機間資料封包的傳送與接收模擬與對外的訊息發送。因此第二年主要 工作在於提出以派屈網路為基礎之分散式系統決策與通訊機制。第三年將前兩年 的研究成果，以嵌入式系統實現並驗證可〈行性。

In this project, the control algorithm and architecture of distributed systems of group patrol robots based on Petri nets (PNs) theory is proposed. We will design the architecture for group patrol robot’s system using Petri nets theory and control algorithms for a single robot of the group patrol robots using fuzzy Petri nets. The final goal of this project is to implement a group of patrol robots controlled by Petri nets. In this research, network control means the effective and proper communication between the robots of the group patrol robots through wireless networks. This project is a three-year program. In first year, we will focus on constructing PNs model of a single robot and using PNs model to describe the dynamics of robots. We will also use fuzzy Petri nets to control single robot. The main job of second year is to design the distributed system’s executing policy and construct the communication method by using PNs. In third year, the control algorithm of distributed systems of group patrol robots will be realized by using an embedded system.