Formation control of multiple robots based on autonomous learning behavior of individual robots

• Main Authors: Cheng-Yan Tsai, 蔡承延
• Other Authors: Kao-Shing Huang
• Format: Others
• Language: en_US
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/66344871233870159612

碩士 === 國立中正大學 === 電機工程所 === 98 === The main purpose of this thesis is to develop a mechanism to complete the cooperation of formation for multiple robots and practice the simulation results of adaptive formation of multiple robots based on behavioral learning. The robots can find a proper position in the formation and achieve the target location without collisions with any robots by self-learning. With the computer process images from camera and construct the positioning system, each robot can get its location and orientation. By the fusion approach based on FBQL algorithm, each robot can make its own judgment and decision about how to move. In terms of hardware, the wireless system has RF transceiver modules on the bridges that receive command signals from the computer. There is a 16-bit microcontroller mounted on each robot. It helps control robot’s actions. In formation marching, once the target location and the specified formation are given, each robot has to make judgment on its current situation individually to keep the formation, and achieve the target location without collisions by self-learning.