The Multi-target Searching Of Multiple Mobile Robots

• Main Authors: Lai,Hsin-Chou, 賴信州
• Other Authors: Chien,Ting-Li
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/7jkdq2

碩士 === 吳鳳科技大學 === 光機電暨材料研究所 === 100 === The thesis studies target searching on the unknown environment using single or multiple mobile robots in the programs motion path from start position to target position. The Dynamic Programming Algorithm was applied in target searching to solve the problem of the minimum displacement. Each robot is with cylinder shape; its diameter, height and weight are 10cm, 15cm and 1.5kg, respectively, The controller of the mobile robot is MCS-51, and uses KEIL-C control processing language to program. The mobile robot contains a control module (contains two driver modules), a obstacle detection module, a voice module, a wireless RF communication module, an encoder module and a compass module. Mobile robots are able to correct the orientation using the compass module. The encoder module calculates movement displacement and compensates the position error. We verified experiment scenario using multiple mobile robots on the grid based platform. The supervised computer controls morote robots moving on the platform according to the programmed motion path. In the experimental results, mobile robots can receive the command from the supervised computer via wireless RF interface, and move to the unknown target position, and find the optimal motion path on the many times test according to the proposed algorithm. They also are capable to search fire source in the building, and plan escaping path leaving the fire source.