子計畫一：地面群組機器人進行合作搬運與群組導航技術之研發

This project is dedicated to advancing group robots' decision-making and coordination capabilities over the next three years, emphasizing the research and development of cooperative handling and group navigation technologies. The project’s main research areas encompass two key domains: developing cooperative handling technology for heterogeneous group robots and enhancing existing robot navigation algorithms. In cooperative handling, the research focuses on Stability Theory and Controller Design: Leveraging Lyapunov stability theory along with parameter estimators, the goal is to design a stable controller, verified to ensure the robot’s stability during cooperative handling tasks. Robot Motion Planning and Feedback Design: The emphasis is on the research and development of robot motion planning and feedback control for cooperative handling to achieve efficient and collaborative actions. Establishment of Formation Rules: Creating formation rules enables group robots to perform tasks, ensuring effective coordination during collaboration. Regarding navigation algorithms, the research concentrates on the multi-robot SLAM Algorithm, Further developing multi-robot synchronous positioning and map creation algorithms to enhance navigation capabilities in unknown environments. Traversal Search Technology: Research and improve the robot’s traversal search technology to enable more effective exploration of unknown areas, which is crucial for distributed exploration tasks. Integrating these research directions will empower robots to engage in heterogeneous cooperative handling in unknown environments while excelling in distributed exploration and patrol tasks. This not only enhances the practical application value of group robots but also elevates the overall technical proficiency of the robot industry. The main purpose of this sub-project is to establish the decision-making and coordination capabilities of group robots, and to implement cooperative handling and group navigation on its architecture, thereby enhancing the application value of robot-related industries. On this basis, the annual targets are listed below: 1. Design an item size estimator for cooperative handling by robots, and introduce the Lyapunov stability theory to design a controller that meets the convergence conditions to ensure the stable operation of the group robot control system. 2. Based on the robot kinematics model, establish a robot motion planning algorithm that satisfies motion constraints and is applied to cooperative handling.