| Summary: | 碩士 === 銘傳大學 === 電腦與通訊工程學系碩士班 === 105 === In this thesis, a fuzzy coordination graph algorithm is proposed for multi-robot system to deal with the cooperative problem. In multi-robot system, the action of each robot is depended on the state of other robots such that many candidate combinations of cooperative task should be considered. The proposed fuzzy coordination graph algorithm is consisted of the conventional coordination graph and fuzzy logic system. Using the coordination graph algorithm, a complex global coordination problem can be simplified into a local coordination problem such that the optimal task can be easily obtained. Moreover, a fuzzy logic system is considered to define the task relation between each robot. Based on the fuzzy coordination graph algorithm, the complexity of coordination problem can be reduced and the efficiency can be improved. Finally, fuzzy coordination graph algorithm is implemented on Robocup Simulation Platform. Use fuzzy coordination graph can assign appropriate tasks to each robot improve the efficiency of football team cooperation.
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