| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === In recent years, multi-robot systems have a broad range of applications in the engineering field. For example, military reconnaissance, planetary exploration, and geophysical mapping are typical applications of multi-robot systems. The objective of this thesis focuses on the exploration and the foraging and concentration of a multi-robot team.
This thesis proposes a dispersion movement algorithm and a concentration movement algorithm for multi-robots in an unknown environment. The judging information of these two algorithms is easily got information through communication. The action of the movement algorithm is based on the study of the group behaviors of biological systems. For the exploration task, bio-robots apply the dispersion movement algorithm to spread out in an unknown environment as wide as possible in order to collect information about the exploratory area. For the concentration task, bio-robots apply the concentration movement algorithm to move to the same place for retrieving the exploratory robots or transporting the target. The easily got information means that it can be got without other redundant steps or equipping other sensor or instrument. Particularly, the number of neighbors and the rough distance between two bio-robots are used to develop the algorithm.
In this thesis, the multi-robot systems, the behaviors of biological systems, and the wireless communication architecture are introduced first. Second, the proposed movement algorithms developed by the easily got communication information in multiple bio-robots are discussed. Finally, the analysis of the movement algorithm is studied with simulations and the algorithm is also implemented on the hardware of CC1010 to show the feasibility of the algorithm.
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