未來發展

本論文為多機器人平台建立了基礎的架構，包含機器人自主部份以及合作協 調部分，未來還有許多地方可以繼續研究發展下去，在此列出數點未來發展的方 向：

(1) 機器人自主方面

由於目前於第三代機器人平台上只安裝兩個超音波感測器來完成避障功 能，但是不能應付比較複雜的地形，未來可以加裝雷射掃瞄器或多個超音波 來提升平台的避障能力。

(2) 合作協調方面

本論文所設計之合作策略雖可以提升整體的搜尋效率，但是當機器人數 目增多時，反而改善的幅度並不明顯，原因為重複走過的路徑增加，所以未 來可以考慮在機器人合作方面增加地圖建立的功能，如此才能解決機器人走 重複路徑的問題。另外本論文在機器人定位方面，使用 Encoder 搭配電子羅 盤來計算機器人位置，但是當搜尋時間越長，則 Encoder 誤差會越大，導致 定位錯誤，同時也會影響策略的運作，所以未來在機器人定位上，可以考慮 採取不一樣的定位方式如ZigBee 定位等，來改善 Encoder 累積誤差的問題。

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