此篇論文主要探討多機器人協同架構在隊形控制上的不同控制方法。 首先，一連串的馬達動作(如馬達前進之速度大小)形成多機器人的行為。而驅動多機器人系統的傳統控制方法採用的是考慮機械動力學的數學模型，並未考量其對於環境的適應性及自主性。隨著感測技術的發展，本論文提出模糊邏輯控制架構來達成多移動式機器人控制及導航。藉由已知的移動式機器人位置及方向，整合單一機器人的路徑追蹤、避障、目標搜尋及維持隊形的行為。除了目標驅動外，智慧型階層框架使得機器人能決策出各行為的優先權。藉由提出的控制方法，移動式機器人能夠跟隨著直線、圓形等路線並同時避障。最後，為了測試本論文提出方法的可行性，亦給予相關的模擬來驗證

In this thesis various control methods of coordinating multiple robots in formation and cooperation are investigated. First, a set of motor schemas is applied to build the model of the multi-robot behavior. For steering the multi-robot system, conventional mathematical model is short of the capability of adaptive and autonomous. A fuzzy logic controller is developed to perform the trajectory tracking under the assumption that the sensor measurements are available, i.e., position and heading angle of each robot. Four mobile robot behavior modes are investigated in this research, such as Trajectory tracking, Goal seeking, Avoidance of obstacle, Formation keeping. Furthermore, a novel geometry approach is proposed for obstacle avoidance based on the relative motion between the robot and the obstacle. Besides the task goal driven, an intelligent hierarchical frame is proposed to assign the task priority for each robot. Using the proposed control laws, the mobile robots can globally follow arbitrary path such as a straight line, a circle and the path approaching to the origin using a single controller. To show the feasibility and effectiveness of the proposed method, the numerical simulations analysis was conducted to validate the approach.

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