子計畫五：基於群組移動機器人之具自主避障能力動態路徑規劃演算法與協同搬運技術開發能實現人機合作模式之系統

With the development of technology and the development of the Internet, mobile robots have gradually entered the family and social environment to provide services to meet the needs of the crowd in addition to carrying out the tasks of handling and warehousing in the factory. On the basis of the Internet of Things, smart robots that use versatility and communicate with each other are the future trends. Through the cloud integration service and high-speed wireless transmission technology, the possibility of robot communication is greatly increased, and the robot itself no longer needs a large amount of computing power, which helps to reduce costs and develop the concept of group robots. Compared to the performance of using a single robot, group robots have a great advantage in multiplex, diversity and flexibility, because the coordinated control of group robots can achieve tasks that are difficult to perform in a single robot. For example, in terms of handling, group robots with a large number of advantages can have a larger load and change the operating mode according to different needs to achieve better operational efficiency, so as to avoid the high cost of mobile robots to develop enough conditions to cope with various situations and maintenance costs. However, in order for the robot cooperation mechanism to play an extremely important role in the field of group robots applications, it is necessary to have a good mechanism design in order to exert its due advantages. Therefore, this project focuses on the actual execution ability of the group robots, including the path planning method for designing group robots, the automatic obstacle avoidance method for establishing group robots, and the cooperation mechanism for group robots to carry articles, in order to achieve the goal of human-robot collaboration in the same field. Based on the above, the main tasks of this project in the first year (2019.08.01~2020.07.31) are as follows: 1.Path planning for the short distance path on node-type vector map by A* algorithm 2.The path correction algorithm applying Trapezoidal/S curve velocity control to keep the continuity of velocity in high-speed turning 3.Path planning for minimum moving cost on the dynamic map 4.The grouping and path planning for the multi-robot system