子計畫五：具協調合作機制之群組機器人系統建置(III)

Through communicative autonomous robots and wireless communications transfer data, this project applying the advantages of cloud within high-speed computing systems in internet of things (IoTs) to build a control system for group of robots and achieve the coordination and cooperation ability between robots. First, the plan accepts the mission which is assigned by the center of decision. For example, after cooperating the moved work, we will assess the complexity of the tasks to command corresponding a number of robots. To make the robot moves in smooth path planning, this project uses S shape and trapezoid speed control to design the parameters of path time. Using robot dynamic model and location-based information tracking controller design path to eliminate tracking error. Moreover, the project conducted coordinated move against the group robots to avoid the possibility of the robot, an obstacle or the staff to collide. In the operation and designing controller, this project considers two important items. One thing is handling stability, the other thing is flexible moving. In terms of stability, this project uses zero moment point to monitor whether the robot can work together to move item without capsizing. In terms of flexibility, this project consider the case in a stable, providing a robotic arm gesture. Calculating the end of point in any direction can provide the operating speed to decide the best operating point of the way. Because the hybrid system consider continuous and discrete dynamic behavior, this project use the capability of hybrid system to achieve both obstacle avoidance and stable moving. And give the system greater flexibility. Thus, by way of such a design, this project is achieved to that a group of autonomous robots can be better controlled. 1.Consider optimized path planning and moving capacity of the robot model. 2.The design and implementation of motor servo modules and multi-sensor signal processing module integration. 3.Construct speed control method-based with time parameter path switching mechanism. 4.Construct the adaptive control system which is based on vector model. 5.Develop the transportation cooperation law of group of robots. 6.Estimate the best pick-up points of items. 7.Design the controller within the capability of cooperative handling. 8.Build the event-based control law.