面向目标搜索的群机器人试验系统的设计开发

【作者】 王亚超；

【导师】 曾建潮； 薛颂东；

【作者基本信息】 太原科技大学 ， 系统工程， 2012， 硕士

【摘要】 群机器人学主要研究结构和功能均相对简单的多个同构机器人，如何通过协调控制涌现群体智能行为，共同完成单个机器人难以完成或执行效率低下的复杂任务。由于该机制建立在机器人的有限感知和局部交互基础上，决定了群机器人通信系统发挥的作用是至为关键的。本文以目标搜索为背景，围绕群机器人实验平台系统的构建，针对其通信系统的设计开发进行研究，所进行的工作如下：1、机器人的选型设计。群机器人系统由多个成员机器人组成，成员机器人的基础运动平台选用上海未来伙伴机器人有限公司设计制造的AS-UIII型轮式移动机器人。通过对AS-UIII机器人的硬件配置与软件开发平台的开放性进行分析研究，明确了其环境感知能力、运动能力及控制柔性等主要特性。2、机器人通信功能的扩展设计。通过硬件电路和串行通信软件设计，将具有射频收发核心功能的CC2430无线通信模块与机器人控制器进行有效集成，形成LPC2132+8051控制器双CPU控制结构。3、群机器人通信系统体系结构设计。对机器人进行通信功能扩展后，以此为基础构建群机器人通信系统。通过对现有短距离无线通信技术进行比较研究，确定采用基于IEEE802.15.4标准和ZigBee网络协议的无线传感器网络技术，构建网状网络结构的群机器人通信系统。4、通信协议设计及通信内容管理。以ZigBee协议栈为基础，设计包含机器人ID、目标检测强度信号与自身位置信息在内的机器人通信协议。并基于PC与无线通信网络协调器的串口通信技术，设计了群机器人运行状态的基础性功能监控系统。针对以上工作所进行的理论分析与仿真实验，表明了群机器人通信系统设计方案的可行性。更多还原

【Abstract】 The swarm robotic system contains lots of homogenous robots havingrelatively simple structure and functions. Swarm robotics mainly researches thesystem how to complete complex tasks, being difficult or inefficient to completefor single robot, by swarm intelligence emerged from cooperative control. Sincethe mechanism is upon limited sense and local interactions, the communicationsystem seems critical to the swarm robots. Taking target search as thebackground and focusing on design to swarm robotic platform, some works areaccordingly done in this thesis:1. Type-selection design to member robot. Since the swarm robotic systemconsists of many member robots, AS-UIII autonomous mobile wheeled robotdesigned and manufactured by Shanghai Xpartner limited company is selectedfor robotic motion platform. By analyzing hardware configuration and softwaredevelopment platform of AS-UIII, its key features including sensing, motionand control flexibility are clear.2. Design to additional communication function of robot. By adding thehardware circuits and serial communication software, the CC2430RF wirelesscommunication module and the robot controller are effectively integrated so thatthe LPC2132+8051dual-CPU controller structure is formed.3. Architecture design to communication system of swarm robots. Comparedseveral short-range wireless communication technologies, wireless sensornetwork technology based on IEEE802.15.4standard and ZigBee networkprotocol is adopted for mesh network structure building.4. Design to communication protocol and functional system ofcommunication content management. Based on the ZigBee protocol stack, therobot communication protocol including robot ID, detected target signalsintensity and its own position information is designed. Meanwhile, the basicfunctional monitoring system is designed to monitor the swarm robots operationprocess and history data management. The theoretical analysis and simulation results for the above workdemonstrate the feasibility of the design to swarm robotic communicationsystem.更多还原