Design and Realization of the Cooperative Strategy on Autonomous Distributed Rescue Robots
|關鍵字:||自主搜救機器人;ZigBee;合作策略;autonomous rescue robots;ZigBee;cooperative strategy|
The proposed autonomous rescue robot transmits information of its environment within a certain disaster area through the wireless network including the image and voice communication. Furthermore, they may also achieve the mission to bring materials to the victim. Therefore, a critical issue of the rescue robot is how they cooperate to search for victim more efficiently and effectively. In this thesis, the behavior-based motion cooperation is proposed for both the single robot and the multiple robots, separately. Then, the mesh topology network is adopted with the ZigBee wireless system and their integration can be further applied to the resultant final behavior output based on the assigned priority. With both known and unknown environments, different behavior-based cooperative search strategies are also proposed for the multiple rescue robots. For the known environment, the strategy with virtually dividing approach is adopted and the group behavior is determined by both the cooperative strategy and the individually autonomy behavior. With the ZigBee communication, the framework of the behavior-based multi-robot cooperation is achieved and experimental results indicate that the searching efficiency is reliably improved 38%. For the unknown environment, the dynamic area dividing strategy is proposed and experimental results indicate that the searching efficiency is also improved 30%.
|Appears in Collections:||Thesis|
Files in This Item: