本論文提出多機器人系統(Multi-Robot System, MRS)的演化式編隊控制(Evolutionary Formation Control)，並實現系統晶片(System on Programmable Chip, SoPC)設計。多機器人系統以三臺四輪全方位移動機器人為基礎，並通過無線傳輸溝通平臺建立出本論文研究的多機器人系統。演化式人工類免疫系統(Artificial Immune System, AIS)演算法、模糊理論和人工位能場將用於運動控制、編隊控制和物體避障。其中，AIS 演算法將對每臺機器人模糊PID 控制器最佳化，此外，再與基因演算法(Genetic Algorithms, GA) 和粒子群演算法(Particle Swarm Optimization, PSO)去做相應的最佳化表現比較。編隊控制用於多機器人系統維持隊形形狀，並與演化式模糊PID 控制器的結合得以解決多機器人系統問題。每臺機器人系統的開發採用Altera 公司所開發的DE1-SoC 嵌入式系統開發板，藉由SoPC的技術將模擬分析的系統予以實現，進而總結出本系統在模擬與實驗結果上表現出其效力和其優點。

This thesis presents an evolutionary formation control method of multi-robot systems and its system on programmable chip (SoPC) implementation. The proposed multi-robot system is constructed by three four-wheeled omnidirectional mobile robots and a wireless communication environment. The evolutionary artificial immune system (AIS) algorithm, fuzzy theory and artificial potential field (APF) are employed to achieve motion control, formation control and obstacle avoidance. AIS computing is combined with fuzzy theory to develop an optimal fuzzy PID controller of each robot. Moreover, the proposed AIS-based fuzzy approach is compared with conventional evolutionary fuzzy systems using genetic algorithms (GA) and particle swarm optimization (PSO). The proposed AIS-fuzzy controller is extended to address the
formation control problem of multi -robot systems. All the components of each robot are implemented in the Altera DE1-SoC development kit by means of SoPC technology. Simulation results and experimental results demonstrates the effectiveness and merit of the proposed methods.

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