源於傳統覆蓋控制方法之缺陷以及環境估測、移動機器人與致動器網路間整合相關研究的缺乏，本論文基於最大似然估計利用高斯混和模型建構出環境中的重要性分佈，配合最佳化方法中的梯度下降法，提出一無線感測網路與致動器之移動機器人網路架構與其覆蓋控制方法。此架構中使用無線感測器於蒐集環境中資訊，並利用致動器對環境做出影響來調節環境，其中致動器配置於移動機器人上，作為機器人位置對環境所造成之影響；感測器則配置於環境中之特定位置與移動機器人上，其中預先放置於環境中之靜態感測器用於獲得充足資訊以建構出環境的模型，機器人上之感測器則提供機器人位置之資訊，以達到更精確的模型建構。在此研究中，將環境之重要性分佈稱為感測密度函數，本研究之目的乃藉此架構中感測器回授之資訊建構出估測密度函數，並依感測密度函數與估測密度函數之相似性，以期望最大演算法完成最大似然估計，藉由移動高斯混和函數的基底函數中心來最大化相似性。於獲得環境之模型後，利用覆蓋控制方法定義出能使多機器人達到最佳分佈的最佳化問題，以梯度下降法設計控制器，找出移動機器人能對環境做出最有效率影響之移動軌跡，同時考慮進環境中之障礙物，使此架構能應用於更多樣化之環境中，並以Lyapunov穩定性定理設計環境調節控制器，使移動機器人上之致動器能將環境調節至目標分佈。最後，以實際定位系統與機器人所建立之實驗架構，驗證覆蓋控制與環境調節之效能。

This thesis proposes a gradient descent coverage controller and Lyapunovbased actuator output in structure combining multi-robot control system with wireless sensor and actuator network (WSAN). There are pre-deployed wireless sensors in the environment to gather sensory information to estimate the distribution of environmental variable. The environment distribution is illustrated by a density function which is constructed by Gaussian mixture model based on Expectation Maximization (EM) algorithm to estimate real condition. On the other hand, regulating actuators embedded on mobile robots a_ect the environment. The objective of this thesis is to utilize the constructed estimated density to drive the multi-robots to the region with higher error and regulate the environment to the target distribution.
Based on using gradient in each gradient descent iteration, gradient descent method can be introduced to the optimization problem of coverage task. For the feature of coverage control, gradient descent coverage controller can be utilized to _nd an optimal solutions of multi-robots and achieve the similar e_ect as traditional methods. By considering obstacles information and robots formation, gradient
descent coverage method can be applied in more complex condition. Moreover, after driving the robots to more important region, the embedded regulating actuators designed from Lyapunov stability a_ect the environmental regulating error converge to zero and completed the regulating task.
The proposed coverage control method and regulating actuator output have more adaptability to complicated environment and high regulating e_ciency. Moreover, this thesis provides theoretical analysis, numerical simulation and experimentto validate the feasibility and stability of the proposed system.

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