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I HC QUăC GIA H NáI TRìNG I HC CNG NGH Ph⁄m Duy H÷ng PH T TRI N THU T TO N Tĩ TRI N KHAI CHO H THăNG A ROBOT GI M S T M˘I TR×˝NG KH˘NG BI T TRìC Chuyản ng nh: K thut iằn tò M s: 9510302.01 LU N NTI NS NG NHC˘NGNGH KßTHU T I NTÛ, VI N TH˘NG NG×˝I HײNG D N KHOA H¯C: PGS.TS Trƒn Quang Vinh PGS.TS Ngỉ Trung Dơng H Nºi - 2019 i L˝I CAM OAN Tæi xin cam oan lu“n ¡n n y l cỉng tr…nh nghi¶n cứu ca tổi dữợi sỹ hữợng dÔn ca PGS.TS Trn Quang Vinh v PGS TS Ngỉ Trung Dơng, ch÷a ÷ỉc xuĐt bÊn ti bĐt ký nỡi n o Mồi nguỗn thổng tin tham khÊo sò dửng lun Ăn ãu ữổc trch dÔn y TĂc giÊ Phm Duy Hững ii LIC MèN Lới u tiản, tổi xin gòi lới c£m ìn s¥u s›c ‚n PGS.TS Trƒn Quang Vinh v PGS.TS Ngổ Trung Dụng  trỹc tip hữợng dÔn, hỉ trỉ v ºng vi¶n tỉi suŁt qu¡ tr…nh nghi¶n cøu Tỉi xin c£m ìn PhỈng th‰ nghi»m More-Than1 One Robotics cıa PGS.TS Ngỉ Trung Dơng ¢ hØ trỉ cì s vt chĐt, trang thit b v cĂc iãu kiằn cƒn thi‚t ” tæi thüc hi»n c¡c th‰ nghi»m thüc nghiằm trản hằ thng robot tht Tổi xin gòi lới cÊm ỡn chƠn th nh tợi Ban giĂm hiằu Trữớng ⁄i håc Cæng ngh» v c¡c thƒy/cæ cıa khoa i»n tò - Vin thổng  hỉ trổ, to iãu kiằn v ng viản tổi rĐt nhiãu thới gian thỹc hi»n lu“n ¡n CuŁi cịng, tỉi xin gßi líi c£m ỡn tợi nhng ngữới thƠn yảu gia nh  ln s¡t c¡nh, hØ trỉ, chia s· v ºng vi¶n ” tæi ho n th nh lu“n ¡n n y PhỈng th‰ nghi»m More-Than-One Robotics (http://www.morelab.org) thuºc University of Brunei Darussalam, Brunei giai o⁄n 2011-2016, thuºc University of Prince Edward Island, Canada tł 2017 ‚n iii MÖC LÖC Trang phö b…a i Líi cam oan ii Líi c£m ìn iii Danh mửc cĂc kỵ hiằu v ch vi‚t t›t vi Danh möc b£ng ix Danh möc c¡c h… nh v, ỗ th x Mð ƒu xii Chữỡng TNG QUAN V H THăNG A ROBOT 1.1 Giỵi thi»u 1.2 i•u khi”n ph¥n t¡n h» thŁng a robot 1.2.1 iãu khin dỹa trản h nh vi 1.2.2 Trữớng lỹc th nhƠn to 1.2.3 i•u khi”n k‚t nŁi ⁄i sŁ 10 1.3 Tü tri”n khai h» thŁng 1.3.1 Theo dªi a robot 13 a mưc ti¶u 13 1.3.2 Bao phı 17 1.4 K‚t lu“n ch÷ìng 24 Ch÷ìng I U KHI N PH N T N A T NG HDC CHO DUY TR V M— R¸NG M NG A ROBOT 25 2.1 Mæ h…nh h» thŁng 25 2.2 Duy tr… m⁄ng a robot 30 2.3 TŁi ÷u k‚t nŁi, mð rºng m⁄ng 33 iv 2.4 i•u khi”n ph¥n t¡n 2.4.1 2.4.2 2.5 a tƒng 37 i•u khi”n nót 38 i•u khi”n k‚t nŁi 41 º phøc t⁄p v t‰nh Œn ành cıa HDC 2.5.1 43 º phøc t⁄p 43 2.5.2 T‰nh Œn ành 45 2.6 K‚t lu“n ch÷ìng 47 Ch÷ìng ÙNG DƯNG HDC CHO TRI N KHAI H THăNG A ROBOT THEO DI A MệC TI U V BAO PHÕ 48 3.1 B i toĂn theo dêi a mửc tiảu 51 3.1.1 ¡m mƠy ch liản thổng 51 3.1.2 PhĂt hiằn v phƠn loi biản cıa m⁄ng a robot 55 3.1.3 Ăm mƠy ch khổng liản thổng 62 3.1.4 K‚t qu£ th‰ nghi»m v th£o lu“n 64 3.2 B i to¡n bao phı 79 3.2.1 Quy t›c t⁄o ¿nh £o 83 3.2.2 i•u khi”n bao phı 85 3.2.3 K‚t qu£ th‰ nghi»m v th£o lu“n 88 3.3 K‚t lu“n ch÷ìng 92 Ch÷ìng NG DệNG HDC CHO TRI N KHAI H THăNG A ROBOT KH M PH M˘I TR×˝NG C´ C U TRĨC 94 4.1 Chin lữổc trin khai cĂc robot ỗng nh§t 95 4.2 Chin lữổc trin khai robot mà, 96 4.3 K‚t qu£ th‰ nghi»m v th£o lu“n 98 4.3.1 Mæ phäng 98 4.3.2 Thüc nghi»m 106 4.3.3 Th£o lu“n 106 4.4 K‚t lu“n ch÷ìng 108 K T LU N 109 v DANH MÖC C˘NG TR NH KHOA H¯C CÕA T C GI LI N QUAN N LU N N 112 T I LI U THAM KH O vi 113 DANH MƯC C C KÞ HI U V CHVI TT T Danh mửc cĂc kỵ hiằu STT Kỵ hiằu 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 x xi rc S i a Si c Si n Si B i "; "i N Ni c Ni n Ni g Ni ! ! ! ! vi v ia v ic v is ‘Iij Lc di eij r ij Ti Ki Rni T Rni K Rni v max ; ; ij vii = ji Danh möc c¡c chœ vi‚t t›t STT Chœ vi‚t t›t AA ACC AP BC BEC CDI DAR DCC DSHR 10 DSNR 11 ESD 12 13 14 15 16 17 18 19 FILO HDC INMC LCT MANET MRS MTT MWSN 20 NSB 21 22 23 24 RREP RREQ VF VTG viii chu ký iãu khin v i mili giƠy so vợi v i giƠy phữỡng iãu khin kt ni truyãn thng sò dửng ữợc lữổng kt ni i s HDC thch nghi vợi mồi cĐu trúc mng: Nhớ v o chin lữổc tinh giÊn cĂc cĐu trúc kt ni cửc b ca HDC nản cĂc robot loi bọ ữổc cĂc im cỹc tiu cửc b, cặn gồi l bÔy cĐu trúc, v cõ th chuyn ng n mửc tiảu mong muŁn i•u n y gióp MRS câ th” th‰ch nghi vợi cĂc cĐu trúc mng bĐt ký vy ⁄t hi»u su§t cao thüc thi nhi»m vư Trong cĂc nghiản cứu hiằn nay, khổng cõ phữỡng phĂp n o giÊi quyt vĐn ã cỹc tiu cửc b iãu khin MRS bng chin lữổc tinh giÊn cĐu trúc kt ni cửc b nhữ ã xuĐt ca lun Ăn HDC cõ khÊ nông m rng v linh hot vợi nhi•u øng dưng: HDC câ th” ho⁄t ºng cịng MRS cõ s lữổng robot khĂc m khổng cn cĐu h…nh l⁄i h» thŁng T‰nh linh ho⁄t cıa HDC th” hi»n ð chØ HDC câ th” øng dưng cho nhi•u nhi»m vư kh¡c nh÷ di chuy”n theo bƒy; theo dêi a mửc tiảu; bao ph, õng gõp n y ữổc cổng b cổng trnh [CT1-CT4],[CT8] ã xuĐt chin lữổc trin khai MTT sò dửng HDC giÊi quy‚t c£ hai b i to¡n theo dªi a mưc tiảu v bao ph Chin lữổc MTT kt hổp th tửc phƠn nhiằm dỹa trản trao i thổng tin gia cĂc robot trản nãn tÊng mng ữổc tr bi HDC v sò dửng HDC iãu khin robot thỹc thi nhiằm vử Vữổt qua cĂc nghiản cứu  tỗn ti, lu“n ¡n ch¿ b i to¡n theo dªi a mưc ti¶u v bao phı câ °c i”m chung l c¡c ‰ch cho b i to¡n theo dªi a mưc tiảu ging vợi cĂc ch Êo ca b i toĂn bao phı, v… th‚ MTT ÷ỉc ¡p dưng ” gi£i quy‚t c£ hai b i to¡n Trong b i to¡n bao ph, lun Ăn ã xuĐt quy tc to ch Êo VTG cõ th to cĐu trúc lữợi lửc gi¡c cịng c¡c ¿nh quy t›c v b§t quy t›c cho ph†p MRS câ th” bao phı ÷ỉc mỉi tr÷íng cõ cĐu trúc bĐt ký Lun Ăn cụng nghiản cứu, kt hổp nhiãu quĂ trnh iãu khin nhữ di chuyn theo by, trin khai bao ph v thu hỗi MRS mổi trữớng cõ cĐu trúc ging tặa nh trản mổ hnh sò dửng cĂc robot ỗng nhĐt v mổ hnh khổng ỗng nhĐt kiu robot mà, õng gõp n y ữổc cổng b cổng trnh [CT2-CT5] ã xuĐt thut toĂn phĂt hiằn v phƠn loi biản cho mng MRS õ sòa lỉi biản ữổc thỹc hiằn bng tip cn hnh hồc Lỉi 110 biản ữổc loi bä thỉng qua xem x†t c§u tróc h…nh håc c¡c kt ni cửc b thay cho phữỡng phĂp sòa lỉi » quy thu“t to¡n gŁc Nâ ÷ỉc øng dưng ” gi£i quy‚t b i to¡n theo dªi a mưc tiảu kch bÊn cĂc Ăm mƠy ch khổng liản thỉng âng gâp n y ÷ỉc cỉng bŁ cỉng tr…nh [CT6-CT7] HDC v c¡c chi‚n l÷ỉc tri”n khai ÷ỉc ki”m chøng v ¡nh gi¡ hi»u qu£ thæng qua c¡c th nghiằm mổ phọng ữổc nghiản cứu sinh tỹ phĂt trin trản phn mãm MatLab v thỹc nghiằm trản ti a 14 robot di ºng hai b¡nh vi sai câ ti phặng ngh nghiằm Kt quÊ cho thĐy HDC v c¡c chi‚n l÷ỉc tri”n khai ho⁄t ºng Œn ành, cho hiằu suĐt cao, c biằt ữổc kch hot tƒng vỵi Lc = n 1, linh ho⁄t v thch nghi vợi nhiãu ứng dửng v kch bÊn khĂc Kin ngh vã nhng nghiản cứu tip theo: Nhữ  ã cp phn m u, lun Ăn khổng nghiản cứu, giÊi quyt b i toĂn vã hằ thŁng c£m bi‚n v tŒng hỉp c£m bi‚n cho v§n • ành và, ành danh cıa robot; khỉng nghi¶n cøu b i to¡n £m b£o º tin c“y cıa truy•n thæng m⁄ng a robot thay v o â lu“n ¡n gi£ thi‚t c¡c robot câ vòng c£m nh“n v truyãn thổng hnh ắa trặn vợi khÊ nông nh v, ành danh v trao Œi thỉng tin vỵi º ch‰nh x¡c v tin c“y cao M°c dị gi£ thi‚t v• vũng cÊm nhn ữổc sò dửng rng rÂi cĂc nghiản cứu vã MRS v mng cÊm nhn khổng dƠy di ºng MWSN (Mobile Wireless Sensor Network) song thüc t, vũng cÊm nhn ắa trặn khõ Êm bÊo viằc nh v, nh danh ỗng ãu to n dÊi c¡c h⁄n ch‚ v• cỉng ngh» c£m bi‚n hi»n v… v“y mỉ h…nh x¡c su§t cịng vi»c bŒ sung thảm nhiu trng cho vũng cÊm nhn ắa trặn cn thit ữổc nghiản cứu Ăp dửng cho b i toĂn Tữỡng tỹ, mổ h nh truyãn thổng nh phƠn ữổc ¡p dưng ” bi”u di„n truy•n thỉng cıa robot theo mổ hnh mng MANET vợi giÊ thit t lằ truyãn/nhn th nh cổng luổn ữổc Êm bÊo vợi phữỡng thức truy•n i”m - i”m (P2P) M°c dị gi£ thi‚t n y l hổp lỵ i vợi cĂc cổng nghằ truyãn thổng khổng dƠy hiằn nay, viằc truyãn thổng gia c¡c robot kho£ng c¡ch hµp câ th” bà c£n tr bi cĂc chữợng ngi vt v tr truyãn thổng P2P gƠy bi viằc chuyn ng ca cĂc robot vÔn l b i toĂn nghiản cứu m mng di ng khổng dƠy Trong tữỡng lai, cõ th phĂt trin cĂc nghiản cứu tip theo vã: HDC vợi mổ hnh xĂc suĐt v nhiu cho cÊm nhn v khÊ nông truyãn thổng ca robot; Mổ hnh hồc s¥u (deep learning) cho b i to¡n l“p k‚ ho⁄ch v dÔn ữớng sò dửng HDC; theo dêi a mửc ti¶u di ºng 111 DANH MƯC C˘NG TR NH KHOA H¯C CÕA T C GI LI NQUAN NLU N N [CT1] Pham Duy Hung, Pham Minh Trien, Tran Quang Vinh, and Trung Dung Ngo, Accelerating multi-target tracking by a swarm of mobile robots with network preservation , IEEE International Conference of Soft Computing and Pat-tern Recognition (SoCPaR), Hanoi, Vietnam, pp.327-332, 2013 [CT2] Pham Duy Hung, Pham Minh Trien, Tran Quang Vinh, and Ngo Trung Dung, Self-deployment strategy for a swarm of robots with global network preser-vation to assist rescuers in hazardous environments , IEEE International Confer-ence on Robotics and Biomimetics (ROBIO), Bali, Indonesia, pp.2655-2660, Dec 2014 [CT3] Ngo Trung Dung, Pham Duy Hung, and Pham Minh Trien, "A kangaroo inspired heterogeneous swarm of mobile robots with global network integrity for fast deployment and exploration in large scale structured environments", IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, Indonesia, pp 1205-1212, Dec 2014 [CT4] Pham Duy Hung, Tran Quang Vinh, and Ngo Trung Dung, "A scalable, decentralised large-scale network of mobile robots for multi-target tracking , In: Intelligent Autonomous Systems 13, 2194-5357, vol 302, Springer International Publishing, pp 621-637, ISBN 978-3-319-08338-4, 2016 [CT5] Pham Duy Hung, Tran Quang Vinh, and Ngo Trung Dung, "Distributed coverage control for networked multi-robot systems in any environments , IEEE In-ternational Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, pp 1067-1072, 2016 [CT6] Pham Duy Hung, Tran Quang Vinh, and Ngo Trung Dung, "An online local boundary detection and classification algorithm for networked multi-robot systems , IEEE International Conference on Advanced Technologies for Commu-nications (ATC), Hanoi, Vietnam, pp 253-258, 2016 [CT7] Pham Duy Hung, Tran Quang Vinh, and Ngo Trung Dung, "An online distributed boundary detection and classification algorithm for mobile sensor networks , Journal on Electronics and Communications (JEC), Vol 7, No.1-2, pp 29-36, 2017 [CT8] Pham Duy Hung, Tran Quang Vinh, and Ngo Trung Dung, "Hierarchical distributed control for global network integrity preservation in multi-robot systems," IEEE Transactions on Cybernetics, DOI:10.1109/TCYB.2019.2913326, pp.1-14, 2019 112 T ILI UTHAMKH O [1] L Steels, When are robots intelligent autonomous agents? 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Ch÷ìng ÙNG DƯNG HDC CHO TRI N KHAI H THăNG A ROBOT KH M PH MI TRìNG C C U TRểC 94 4.1 Chin lữổc trin khai cĂc robot ỗng nhĐt 95 4.2 Chi‚n l÷ỉc tri”n khai robot mµ, ... the ni»m robot tỵi h⁄n (Critical robot) cho h nh ng iãu khin nƠng cao Mºt robot applied in a connectivity-maintenance algorithm for full robot tợi hn n ữổc xem l point robots, where each robots... v ma trn li•n k• A: Robot (xanh l¡) câ ma s tr“n li•n k• A t⁄o bði robot v c¡c robot h ng xâm cıa nâ {2, 5, 12}; Robot ( ä s t÷ìi) câ ma tr“n li•n k• A t⁄o bði robot v c¡c robot h ng xâm {4, 6,
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