Robhoti musanganiswa wakasarudzika wesainzi uye tekinoroji inogadzira michina inotevedzera zvinoitwa nevanhu.
Mukutanga kwe2000s, 90% yemarobhoti aive mumidziyo yekugadzira mota achitsiva vanhu kuti vadzokorore mabasa. Iye zvino marobhoti anogona kuchenesa dzimba uye kunyange kushanda mumaresitorendi.
Robhoti kazhinji rine mhando nhatu dzezvikamu; iyo mechanical body; skeleton yemagetsi, uye pakupedzisira uropi hwakagadzirwa nekodhi.
Izvi zvikamu zvinobvumira robhoti kuunganidza data (kazhinji kubva kune sensors), kuita sarudzo kuburikidza neyakarongwa logic kugadzirisa maitiro uye kupedzisa mabasa.
Marobhoti anogona kunge aine marudzi matatu emapurogiramu; Remote Control (RC), chakagadzirwa Intelligence (AI), kana Hybrid.
Zvirongwa zveRC zvinoda kupindira kwemunhu anogona kupa kutanga uye / kana chiratidzo chekumisa chekuita kwekodhi kurobhoti. Zvirongwa zvinoumbwa nemhando dzakasiyana dzealgorithms, imwe neimwe iine basa rakasiyana.
Chii chinonzi algorithm?
Algorithm inoteedzana mitsara yekodhi iyo robhoti inogona kushandisa kuita mimwe mirairo. Inoshandura pfungwa dzemugadziri mumutauro unonzwisiswa nemarobhoti.
Algorithms inogona kuratidzwa mumhando dzakawanda dzenotation, kusanganisira pseudocode, flowcharts, kuronga mitauro, kana matafura ekudzora.
Muchikamu chino tichakurukura mamwe marudzi akajairwa ealgorithms anoshandiswa muzvirongwa izvi.
Mhando dzealgorithms dzinoshandiswa mumarobhoti
1. Chero nguva A * Algorithm
Iyo A* algorithm inzira yekutsvaga algorithm iyo inoshandiswa kutsvaga yakanyanya kunaka nzira pakati pemapoinzi maviri, kureva, nemutengo mudiki.
Chero nguva A* Algorithm ine inochinjika nguva mutengo uye inogona kudzosa nzira ipfupi kunyangwe ikavhiringwa sezvo ichigadzira isina-yakakwana mhinduro kutanga yobva yaigadzirisa.
Izvi zvinobvumira kukurumidza kuita sarudzo sezvo robhoti rinogona kuvaka pane zvakapfuura kuverenga pane kutanga kubva pakatanga.
Sei kushanda?
Inoita izvi nekugadzira 'muti' unopinda kubva pakutanga node kusvika nzira yekumisa yatangwa zvinoreva kuti kune nzira isingadhure iripo.
A 2D Grid inogadzirwa nezvipingamupinyi uye sero yekutanga uye maseru anonangwa anonongedzwa-pini.
Iyo algorithm inotsanangura 'value' yenodhi na f inova huwandu hwema paramita g (mutengo wekufamba kubva panodhi yekutanga kuenda kunodhi iri kutaurwa) uye h (muripo wekufamba kubva papfundo iri mubvunzo uchienda kunzvimbo yakanangwa).
Applications
Mitambo yakawanda uye mamepu ewebhu anoshandisa iyi algorithm yekuwana nzira ipfupi kwazvo. Inogona zvakare kushandiswa kune mobile marobhoti.
Iwe unogona zvakare kugadzirisa matambudziko akaoma senge Newton–Raphson iteration inoshandiswa pakutsvaga square root yenhamba.
Inoshandiswawo mumatambudziko enzira kufanotaura mafambiro uye kubonderana kwechinhu chiri muchadenga.
2. D* Algorithm
D*, Yakatarisana D* uye D* Lite ndeyekuwedzera kutsvaga algorithms kuti uwane nzira ipfupi pakati pemapoinzi maviri.
Ivo, zvisinei, musanganiswa weA * algorithms uye zvitsva zvakawanikwa zvinovatendera kuwedzera ruzivo kumamepu avo kune zvipingaidzo zvisingazivikanwe.
Ivo vanogona kuverengerazve nzira zvichienderana neruzivo rutsva, senge Mars Rover.
Sei kushanda?
Kushanda kweD * Algorithm kwakafanana neiyo yeA *, iyo algorithm inotanga kutsanangura f, h uye inogadzira yakavhurika uye yakavharwa rondedzero.
Mushure meizvi, iyo D * Algorithm inosarudza iyo yazvino node's g kukosha uchishandisa g kukosha kwemanodhi ayo akavakidzana.
Imwe neimwe node yevavakidzani inoita fungidziro nezveiyo yazvino g kukosha uye iyo ipfupi g kukosha inogadziriswa seiyo g value nyowani.
Applications
D * uye akasiyana ayo anoshandiswa zvakanyanya kune mobile robhoti uye motokari inozvimiririra kufamba.
Mafambisirwo akadai anosanganisira prototype system yakaedzwa paMars rovers Opportunity and Spirit uye navigation system yakahwina. DARPA Urban Challenge.
3. PRM Algorithm
A PRM, kana probabilistic roadmap, inetiweki girafu yenzira dzinobvira dzakavakirwa panzvimbo dzemahara uye dzakagarwa pamepu yakapihwa.
Iwo anoshandiswa muakaomesesa kuronga masisitimu uye zvakare kuwana yakaderera mutengo nzira dzakatenderedza zvipingamupinyi.
MaPRM anoshandisa sampuli isina kujairika yemapoinzi pamepu yavo apo robhoti mudziyo unogona kufamba uye ipapo nzira ipfupi inoverengerwa.
Sei kushanda?
PRM ine chikamu chekuvaka uye chekubvunza.
Muchikamu chekutanga, mepu yemugwagwa inoiswa graph iyo inofananidzira kufamba kunogoneka munzvimbo. Iyo isina kurongeka gadziriso inozogadzirwa uye yakabatana kune vamwe vavakidzani.
Kutanga uye zvigadziriso zvechinangwa zvakabatana kune girafu muchikamu chemubvunzo. Nzira yacho inobva yawanikwa na Dijkstra ipfupi nzira bvunzo.
Applications
PRM inoshandiswa muvarongi venzvimbo, uko algorithm inounganidza nzira yakatwasuka pakati pemapoinzi maviri, anoti ekutanga, uye mapoinzi echinangwa.
Iyo algorithm inogona zvakare kushandiswa kugadzirisa nzira kuronga uye kudhumhana kwekuona maapplication.
4. Zero Moment Point (ZMP) Algorithm
Zero Moment Point (ZMP maitiro) is algorithm inoshandiswa nemarobhoti kuchengetedza iyo inertia yakazara yakatarisana nekuita kwesimba repasi.
Iyi algorithm inoshandisa pfungwa yekuverengera ZMP nekuishandisa nenzira yekuenzanisa bipedal marobhoti. Kushandisa iyi algorithm panzvimbo yakatsetseka yepasi inoita seinobvumira robhoti kufamba sekunge pakanga pasina nguva.
Makambani ekugadzira akadai seASIMO (Honda) anoshandisa nzira iyi.
Sei kushanda?
Kufamba kwerobhoti rekufamba kwakarongwa uchishandisa angular momentum equation. Inoita shuwa kuti iyo yakagadzirwa yekubatana inofamba inovimbisa dynamical postural kugadzikana kwerobhoti.
Uku kugadzikana kunoyerwa nekureba kwe zero-moment point (yakaverengerwa negorgorithm) mukati memiganhu yenzvimbo yakatemerwa yakagadzikana.
Applications
Zero nguva mapoinzi anogona kushandiswa semetric yekuongorora kugadzikana pamusoro pekupeta pamusoro pemarobhoti senge iRobot PackBot kana uchifambisa marambi nezvipingamupinyi.
5. Proportional Integral Differential (PID) Kudzora Algorithm
Proportional Integral Differential Control kana PID, inogadzira sensor mhinduro loop kuti igadzirise marongero emakanika zvikamu nekuverenga kukosha kwekukanganisa.
Aya maalgorithms anosanganisa ese matatu akakosha coefficients, kureva, chiyero, chakakosha, uye chinobvamo kuitira kuti ibudise chiratidzo chekutonga.
Inoshanda munguva-chaiyo uye inoshandisa zvigadziriso pazvinenge zvichidikanwa. Izvi zvinogona kuoneka mu kuzvidzora motokari.
Sei kushanda?
Iyo PID controller inoshandisa matatu ekutonga mazwi ekuenzana, akabatanidzwa uye anotorwa pesvedzero pane ayo akabuda kuti ashandise kwakaringana uye kwakaringana kutonga.
Mutongi uyu anoramba achiverenga kukosha kwekukanganisa semusiyano pakati peinoda setpoint uye yakayerwa maitiro akasiyana.
Iyo inobva yashandisa kururamisa kuderedza kukanganisa nekufamba kwenguva nekugadzirisa kwekugadzirisa kuchinja.
Applications
Mutongi uyu anogona kudzora chero maitiro ane chinoyerwa chinobuda, ino zivikanwa kukosha kweiyo inobuda, uye yekuisa kune iyo nzira inozokanganisa iyo inoyerwa kubuda.
Ma controller anoshandiswa muindasitiri kudzora tembiricha, kudzvanywa, simba, huremu, chinzvimbo, kumhanya uye chero imwe shanduko ine kuyerwa kuripo.
mhedziso
Saka, aya aive mamwe eakajairika algorithms anoshandiswa mumarobhoti. Ese aya maalgorithms akaomarara nemusanganiswa wefizikisi, mutsara algebra uye manhamba ari kushandiswa kugadzira zviito uye kufamba.
Nekudaro, sezvo tekinoroji ichifambira mberi marobhoti algorithms inokura kuti iwedzere kuoma. Iwo marobhoti achakwanisa kupedzisa mamwe mabasa uye kufunga zvakanyanya ivo pachavo.
Kana iwe wakanakidzwa nechinyorwa ichi, nyoresa kuHashDork's Weekly inogadziridza nemaemail, kwatinogovera ichangoburwa AI, ML, DL, Programming & Future Tech nhau.
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