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研究生： 曾博廉
Bo-Lian Tzeng
論文名稱： 多機器人合作之行為控制架構設計
Multi-Robot cooperation action selection modle design
指導教授： 張江南
Chiang-Nan Chang
口試委員:
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
畢業學年度： 96
語文別： 中文
論文頁數： 62
中文關鍵詞： 機器人 、合作
外文關鍵詞： cooperation, robot
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    • 在過去人們都一直試著把機器人加入到人類的工作環境，用來幫助人們工作，但是真正實用在工業界的機器人都是做固定的工作，本論文將提出一行為選擇的架構來控制機器人，讓機器人能夠選擇自己的工作並且能與其他機器人互動合作，進一步來完成單獨無法完成的工作或是彌補互相的短處來完成複雜的工作，本論文利用多代理人協調系統(Multi-Agent System)以及ALLIANCE來設計行為選擇的架構並使用Borland C++的軟體來建構實驗的模擬場地驗證論文中所提出的行為架構的可能性。

    In the past people always try to add robot in human working space and help people Working. But now a days industry factory''s robot are designed to do routine jobs over and over again .In this paper we will suggest an action selecting model to control robots and robots are enabled to select their own job and interact to other robots . Further more, robots can be designed and programmed to cooperate with each other and complete complicate jobs. In this paper we use Multi-Agent System and ALLIANCE to design the action selecting model and use software "Borland C++" to build a simulation program and prove this action selecting model work well.

    目次 中文摘要......................................................................................I Abstract….................................................................................II 目次...........................................................................................III 圖目錄........................................................................................V 第一章 序論...............................................................................1 1.1 前言..............................................................................................1 1.2 研究動機與目的..........................................................................2 1.3 論文架構......................................................................................5 第二章 多機器人合作...............................................................6 2.1 合作團隊......................................................................................6 2.1.1團隊的定義和特點.................................................................6 2.2合作方式的分類 ...........................................................................7 2.3 機器人合作遇到的問題..............................................................9 2.3.1群體機器人系統的通信.........................................................9 2.3.2 群體機器人系統的合作與控制..........................................10 第三章 多代理人協調系統.....................................................13 3.1 多代理人協調系統(MAS)概述.................................................13 3.2 ALLIANCE概述.........................................................................16 3.3 基於行為模式之基本機器人控制理論....................................17 3.4 基於行為模式之基本機器人控制架構....................................21 3.5 系統架構及運作說明................................................................22 3.6 系統特色及優點........................................................................25 3.7 個別行為功能設計....................................................................26 3.7.1 探索......................................................................................26 3.7.2 趨近目標物 .........................................................................27 3.7.3 前往目的地 .........................................................................28 3.7.4 原地等待..............................................................................29 3.7.5 靠近等待者..........................................................................29 第四章 實驗模擬.....................................................................30 4.1模擬環境一..................................................................................30 4.2模擬環境二..................................................................................38 4.3模擬環境三..................................................................................44 第五章 實驗結果與討論.........................................................52 5.1 實驗一結果討論........................................................................53 5.2 實驗二結果討論........................................................................56 5.3 實驗三結果討論........................................................................58 5.4 實驗討論與未來展望................................................................60 參考文獻...................................................................................62

    參考文獻
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