臺灣博碩士論文加值系統

摘　　要
本論文主要的重點有兩個，其一，在機器人的控制上提出以視窗介面編輯的方式，將動作儲存在機器人中，其二，對MANET的一群機器人中的傳遞資訊的方式與協定做討論與建議，並針對機器人的環境提出結合了地域性的路由協定。
本論文也提出一種演算法將MANET網路中的所有成員做階層式的分組，藉由計算最佳的路徑以利於Multicast傳輸，對於一般的ADBM和將ADBM混合LAR(Location Aided Routing)適用於機器人的兩種方式做比較，並模擬與分析之間成員數、叢集數、及傳輸路徑。

關鍵詞：嵌入式系統、機器人、Ad Hoc、MANET

ABSTRACT

Two topics are discussed in this thesis. One of them is focus on robot control using GUI interface, which saves the action commands in robot’s memory. For the other, we discuss the protocols of transmission mechanism in a mobile ad hoc network (MANET). We proposed a protocol algorithm that combines location routing protocol in the robot environment.
The approach of this thesis groups all nodes in MANET into hierarchical architecture. Each node calculates the best route to multicast communications. Comparing of ADBM and mix LAR with ADBM in robot message passing are also examined in the thesis. Finally, a simulation and analysis are presented with variable node numbers, cluster numbers and transmission methods.

Keywords：Embedded System、Robot、Ad Hoc、MANET

目　　次
摘　　要 I
ABSTRACT II
致　　謝 III
目　　次 IV
表目錄 VII
圖目錄 VIII
第一章 導論 1
1.1 簡 介 1
1.2 機器人控制 2
1.3 Ad Hoc Network 2
1.4 Mobile Ad Hoc Network 2
第二章 研究背景與相關研究 4
2.1 馬達控制原理 4
2.2 馬達封包格式 5
2.3 Python GUI套件 6
2.3.1 Tkinter 6
2.3.2 wxPython 7
2.4 Ad Hoc路由協定 8
2.4.1 Table driven 9
2.4.1.1 DSDV 9
2.4.1.2 OLSR 11
2.4.2 On-demand 13
2.4.2.1 DSR 13
2.4.2.2 AODV 15
2.4.3 Hybrid 17
2.4.3.1 ZRP 17
2.4.4 Location-aware 20
2.4.4.1 LAR 20
2.4.5 各種協定之比較 24
第三章 實驗方法與提出方案 27
3.1 用戶端介面設計 27
3.2 伺服端程式設計 28
3.3 以ADBM為基礎的機器人通訊協定 32
3.3.1 ADBM 32
3.3.1.1 BACKBONE CREATION SECTION 33
3.3.1.2 NEIGHBOR DISCOVERY PROCESS 34
3.3.2.2 CORE SELECTION PROCESS 35
3.3.2.3 CORE CONNECTION PROCESS 39
3.3.2.4 ADBM建立連結的方式 40
3.3.1 結合ADBM與LAR於機器人的應用 42
第四章 模擬分析與討論 61
4.1 模擬程式 61
4.2 模擬結果與分析 65
4.3 分析結果 67
第五章 成果與未來展望 69
5.1 目前成果 69
5.2 未來展望 69
參考文獻 70

參考文獻
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