Browsing by Author "Shih, Tzu-Chiang"

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Development of A Behavior-Based Cooperative Search Strategy for Distributed Autonomous Mobile Robots Using Zigbee Wireless Sensor Network
(2014-03-01)
Shih, Tzu-Chiang
;
Yeh, Syh-Shiuh
;
Hsu, Pau-Lo
;
電機工程學系
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Department of Electrical and Computer Engineering
To achieve efficient and objective search tasks in an unknown environment, a cooperative search strategy for distributed autonomous mobile robots is developed using a behavior-based control framework with individual and group behaviors. The sensing information of each mobile robot activates the individual behaviors to facilitate autonomous search tasks to avoid obstacles. An 802.15.4 ZigBee wireless sensor network then activates the group behaviors that enable cooperative search among the mobile robots. An unknown environment is dynamically divided into several sub-areas according to the locations and sensing data of the autonomous mobile robots. The group behaviors then enable the distributed autonomous mobile robots to scatter and move in the search environment. The developed cooperative search strategy successfully reduces the search time within the test environments by 22.67% (simulation results) and 31.15% (experimental results).
Remote Control Realization of Distributed Rescue Robots via the Wireless Network
(2008-01-01)
Yeh, Syh-Shiuh
;
Hsu, Cheng-Chung
;
Shih, Tzu-Chiang
;
Hsiao, Jen-Pin
;
Hsu, Pau-Lo
Applications of wireless sensor network (WSN) have been widely developed recently. This paper represents distributed rescue robots applying the techniques of WSN to achieve remote control and monitoring through different sensing devices by integrating the ZigBee and 802.11g. The communication channel between the rescued target and the remote host for transmitting video and voice signals through the 802.11g is established for further motion detection to effectively discover victims.