Cooperative Search Algorithm and Behavior Design for Micro Bio-mimetic Multi-Robot Systems

• Main Authors: Chia-Lun Tien, 田家倫
• Other Authors: Yung-Yaw Chen
• Format: Others
• Language: en_US
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/04727771663483512500

碩士 === 國立臺灣大學 === 電機工程學研究所 === 94 === Multi-robot systems have been an important research area in robotics and applied to various domains. Multi-robot systems can improve the efficiency of a robotic system either from the viewpoint of the performance in accomplishing certain tasks, or in the robustness and reliability of the system. A biological-inspired approach is used to design a multi-robot system. And the concepts of Artificial Life (ALife) are introduced to the developments. The thesis consists of two parts. The first one is the development of individual robot’s and group behaviors; while the second part is the development of the proposed cooperative search algorithm for scent sources. The thesis focuses on distributed multi-robots systems. Each of the members in the system is homogeneous and only aware of its local situations. Individual robot’s behavior is composed of three modes. They switch modes according to the sensed scent concentrations. The proposed cooperative search algorithm is applied in the search mode which is one of the three. In the searching process, robots have to maintain communications with at least a mount of others. They exchange information with each other since they are only aware of small areas of their surroundings. And then they estimate the configurations of those adjacent to them in order to decide the direction for the next move. Simulations with different conditions are given in the last chapter.