| Summary: | 碩士 === 中原大學 === 機械工程研究所 === 102 === In general, most of service robots work in indoor environments. Thus if there is no precise indoor positioning technique, service robots are indeed difficult to perform jobs and accomplish tasks. That is, the precise indoor positioning technique for service robots is one of the important techniques. In recent years, many studies have been focused on the development of indoor positioning systems using wireless sensor network (WSN) architecture. The reason is that the WSNs offer numerous advantages, such as simple structure, small-sized, low in cost, low power consumption and easy to install and repair. This thesis aims to develop an indoor positioning technique based on WSNs for the use of multiple autonomous mobile robots. This positioning technique can be applied to a logistics operating system for controlling multiple autonomous mobile robots working in an intelligent office environment for the delivery of documents and packages. Moreover, this logistics operating system not only can get the position information but also monitor and control the real-time status of all service robots by WSNs, and then assign tasks to robots according to the mission’s requirements. This thesis extends the result of the previous work to multiple autonomous mobile robots. Firstly, by adjusting the angle-of-arrival of the receiving signal, the positioning error in WSNs can be reduced from about 2 m to about 0.5 m. It is obvious that the positioning accuracy has been significantly improved. Furthermore, the WSN can only receive one robot’s positioning signal in previous work, but it is now able to extend for receiving positioning signals from multiple robots simultaneously. This increases the application range of indoor positioning technique. Finally, by integration of ultrasonic sensors and WSN’s positioning signals into an obstacle avoidance system for multiple robots, these robots can avoid each other in different situations.
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