Development the Prototype of the Grouped Robots

• Main Authors: Yu-Wei Lin, 林佑威
• Other Authors: J. Lin
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/70859540135572862069

碩士 === 清雲科技大學 === 機械工程研究所 === 99 === Most investigation for mobile robots is aimed at Soccer Robots or Bipedal Robots in Taiwan. Researchers prefer to use single control board to manipulate robot. However, for ap-plication in group robots, the above control concept owns complexity and without efficiency. Therefore, a high efficiency multi-agent robot system to simplify the control structure is strongly desired. This proposed robot system in this thesis has one master set and three slave units. As a dual set robot, with Bluetooth and communication network, the master set can connect with slave units and send information back to computer by wireless and monitor. An ATERA DE0 control board is allocated with FPGA to set up a control database. Moreover, each slave robot is able to obstacle avoidance by equipped eight ultrasonic sensors. The ob-stacle avoidance for this paper is using the ultrasonic sensor to detect the block that it adapts reflecting split type ultrasonic sensors which can detect from 2cm to 3m. Realistic operation for the proposed multi-agent robot system has successfully verified in the real-time experiment. Consequently, the advantages of the proposed grouped robots can perform the high efficiency for the rescue tasks and so on.