擬剛體編隊設計與實驗

Abstract

本論文主旨為進行多載具運動擬剛體編隊法之實驗，整合硬體與路徑規劃演算法，以掌握擬剛體編隊法實際應用時之優缺點，作為編隊設計的參考。 擬剛體編隊法係將擬剛體的形變理論應用在多載具編隊設計上，使多載具隊伍的形狀可由一組空間齊性形變張量來規範，容許隊形旋轉、拉伸以及剪變，相較於剛體隊形，擬剛體隊形更能夠適應複雜度較高的環境。編隊設計則分兩部份：先採用快速探索隨機樹(RRT)為主的策略，加上路徑調整的技巧，規劃出隊伍中心路徑；再設計虛擬位能函數來求解形變張量，即可求出各載具規劃之路徑。 在硬體方面，我們採用利基科技公司所開發的客製化載具進行實驗，其上搭載了超音波感測器、電子羅盤、馬達編碼器、無線通訊模組Zigbee及動力系統。我們並利用微軟公司推出的Kinect來偵測環境資訊，搭配超音波感測器偵測障礙物；載具位置與姿態則由馬達編碼器推算，載具控制器則以Zigbe與主控電腦交換資訊。 各載具之路徑追蹤控制則以模糊控制系統搭配多載具協同機制完成。經實驗證明，多載具擬剛體編隊法確實可行。

The purpose of this thesis is to conduct the experiment of the pseudo-rigid formation design algorithm on the motion of a multi-vehicle system. By integrating the hardware and path-programming algorithm, we are able to know the advantages and disadvantages of this formation design method for further design references. The algorithm adopted in this thesis applies the pseudo-rigid body theory to the formation design, which is determined by a homogenous deformation tensor such that rotation, stretch, and shear are allowed. This gives pseudo-rigid formation a better adaptability to environments of higher complexity, comparing to rigid body formation design. In the method, the Rapidly-Exploring Random Tree (RRT) method is first used along with the techniques of route adjustment to obtain the route of the system’s center. The deformation matrix is then found by using the method of virtual potential function, from which the route of each vehicle is computed. To implement the algorithm, customized vehicles are used, on which ultrasonic sensors, electric compass, motor encoder, Zigbee module, and motors are installed. We also utilize Microsoft’s Kinect to detect environmental objects, collaborating with ultrasonic sensors to detect obstacles. The vehicles’ positions and attitudes are calculated by motor encoder, and the controller on the vehicle uses Zigbee to exchange information with the computer. Route following is done by fuzzy control system for each vehicle and the coordinated control algorithm for the multi-vehicle system is designed. Experimental results show that the pseudo-rigid formation design algorithm for a multi-vehicle system is feasible.