Iirobhothi ngumxube owahlukileyo wenzululwazi nobuchwepheshe ovelisa oomatshini abaxelisa izenzo zabantu.
Ekuqaleni koo-2000, iipesenti ezingama-90 zeerobhothi zazikwimizi-mveliso yokuvelisa iimoto ezithatha indawo yabantu ngenxa yemisebenzi ephindaphindwayo. Ngoku iirobhothi ziyakwazi ukutshayela izindlu kwaye zisebenze nakwiivenkile zokutyela.
Irobhothi idla ngokuba neendidi ezintathu zamacandelo; umzimba oomatshini; i-skeleton yombane, kwaye ekugqibeleni ingqondo eyenziwe ngekhowudi.
La macandelo avumela i-robot ukuba iqokelele idatha (ihlala ivela kwi-sensors), yenza izigqibo nge-programmed logic ukulungelelanisa ukuziphatha kunye nemisebenzi epheleleyo.
Iirobhothi zinokuba neentlobo ezintathu zeenkqubo; Ulawulo olukude (RC), Kukubhadla okungeyonyani (AI), okanye iHybrid.
Iiprogram zeRC zifuna ukungenelela komntu onokunika isiqalo kunye / okanye isignali yokuyeka ukuphunyezwa kwekhowudi kwirobhothi. Iinkqubo ziquka iindidi ezahlukeneyo ze-algorithms, nganye inomsebenzi owahlukileyo.
Yintoni ialgorithm?
I-algorithm luluhlu lwemigca yekhowudi enokuthi i-robot isebenzise ukwenza imiyalelo ethile. Iguqulela iingcamango zomphuhlisi kulwimi oluqondwa ziirobhothi.
Ii-algorithms zinokubonakaliswa kwiindidi ezininzi zobhalo, kubandakanya ipseudocode, flowcharts, Iilwimi zenkqubo, okanye iitafile zolawulo.
Kweli nqaku siza kuxoxa ngezinye iintlobo eziqhelekileyo algorithms ezisetyenziswa kwezi nkqubo.
Iintlobo ze-algorithms ezisetyenziswa kwiirobhothi
1. Nanini na A * Algorithm
I-algorithm ye-A* yindlela yokukhangela i-algorithm esetyenziswa ukufumana eyona ndlela ilungileyo phakathi kwamanqaku amabini, oko kukuthi, ngexabiso elincinci.
Nanini na i-A* Algorithm ineendleko zexesha eliguquguqukayo kwaye inokubuyisela eyona ndlela imfutshane nokuba iphazamisekile njengoko ivelisa isisombululo esingasisona silungileyo kuqala kwaye emva koko iyasikhulisa.
Oku kuvumela ukwenziwa kwezigqibo ngokukhawuleza njengoko irobhothi inokwakhela phezu kwezibalo zangaphambili endaweni yokuqalisa ekuqaleni.
Ingaba isebenza kanjani?
Ikwenza oku ngokwenza 'umthi' osuka kwindawo yokuqala de kuqaliswe indlela yokuphelisa nto leyo ethetha ukuba kukho indlela engabizi kakhulu ekhoyo.
I-2D Grid yenziwe ngemiqobo kunye neseli yokuqala kunye neeseli ekujoliswe kuzo zikhonjwe nge-pin.
I-algorithm ichaza 'ixabiso' le-node ngo-f elisisixa seeparamitha g (ixabiso lokuhamba ukusuka kwindawo yokuqala ukuya kwindawo ekuthethwa ngayo) kunye no-h (ixabiso lokuhamba ukusuka kwindawo ekuthethwa ngayo ukuya kwindawo ekujoliswe kuyo).
izicelo
Uninzi lwemidlalo kunye neemephu ezisekwe kwiwebhu zisebenzisa le algorithm ukufumana eyona ndlela imfutshane ngokufanelekileyo. Ingasetyenziselwa iirobhothi ezihambayo.
Unokusombulula iingxaki ezintsonkothileyo njenge Newton–Raphson uphindaphindo lusetyenziswe ekufumaneni ingcambu yenani.
Ikwasetyenziswa kwiingxaki zomzila ukuqikelela intshukumo kunye nokungqubana kwento esithubeni.
2. D * Algorithm
I-D*, i-Focused D* kunye ne-D * Lite zi-algorithms zokukhangela ezongezelelweyo zokufumana eyona ndlela imfutshane phakathi kwamanqaku amabini.
Bona, nangona kunjalo, bangumxube we-algorithms ye-A * kunye nezinto ezintsha ezifunyenweyo ezibavumela ukuba bongeze ulwazi kwiimephu zabo ngemiqobo engaziwayo.
Basenokuphinda babale indlela esekwe kulwazi olutsha, olufana neMars Rover.
Ingaba isebenza kanjani?
Ukusebenza kwe-D * Algorithm iyafana naleyo ye-A *, i-algorithm kuqala ichaza u-f, h kwaye yenza uluhlu oluvulekileyo noluvaliweyo.
Emva koku, i-D* Algorithm igqiba i-node yangoku yexabiso kusetyenziswa ixabiso le-g leendawo ezikufutshane.
Indawo nganye engummelwane yenza uqikelelo malunga nexabiso langoku le-g kunye nelona xabiso lifutshane lika-g lihlengahlengiswa njengexabiso elitsha lika-g.
izicelo
I-D * kunye neentlobo zayo zisetyenziswa ngokubanzi kwirobhothi ehambayo kunye isithuthi esizimeleyo ukukhangela.
Ezo nkqubo zokukhangela zibandakanya inkqubo yeprototype evavanyiweyo kwiMars rovers Opportunity and Spirit kunye nenkqubo yokukhangela ephumeleleyo. Umngeni weDolophu weDARPA.
3. I-PRM Algorithm
I-PRM, okanye imephu yendlela enokwenzeka, yigrafu yothungelwano lwendlela enokwenzeka esekwe kwizithuba ezikhululekileyo nezinabantu kwimephu enikiweyo.
Zisetyenziswa kwiinkqubo zocwangciso ezintsonkothileyo kananjalo nokufumana iindlela ezineendleko eziphantsi ezijikeleze imiqobo.
Ii-PRM zisebenzisa isampuli engakhethiyo yamanqaku kwimephu yazo apho isixhobo serobhothi sinokuhamba kwaye emva koko indlela emfutshane ibalwa.
Ingaba isebenza kanjani?
I-PRM ibandakanya isigaba sokwakha kunye nemibuzo.
Kwinqanaba lokuqala, imephu yendlela yenziwe igrafu eqikelela ukunyakaza okunokwenzeka kwimeko-bume. Uqwalaselo olungenamkhethe lwenziwa kwaye luqhagamshelwe kwabanye abamelwane.
Isiqalo kunye nolungelelwaniso lwenjongo ludityaniswe kwigrafu kwisigaba sombuzo. Indlela ke ifunyanwa ngu a Eyona ndlela imfutshane yeDijkstra umbuzo.
izicelo
I-PRM isetyenziselwa abacwangcisi bendawo, apho i-algorithm ibala indlela yomgca othe tye phakathi kwamanqaku amabini, okuyiyo yokuqala, kunye neenjongo.
I-algorithm ingasetyenziselwa ukuphucula ukucwangciswa kwendlela kunye nezicelo zokubona ukungqubana.
4. Zero Moment Point (ZMP) Algorithm
I-Zero Moment Point (ubuchule be-ZMP) yi-algorithm esetyenziswa ziirobhothi ukugcina inertia iyonke ichasene ne-reaction force yomgangatho.
Le algorithm isebenzisa ingqikelelo yokubala i-ZMP kwaye iyisebenzise ngendlela yokulinganisa iirobhothi ze-bipedal. Ukusebenzisa le algorithm kumphezulu ogudileyo womgangatho kubonakala kuvumela irobhothi ukuba ihambe ngokungathi akukho mzuzu.
Iinkampani zokuvelisa ezifana ne-ASIMO (Honda) zisebenzisa obu buchule.
Ingaba isebenza kanjani?
Intshukumo yerobhothi ehambayo icwangciswe kusetyenziswa i-angular momentum equation. Iqinisekisa ukuba intshukumo edibeneyo eyenziweyo iqinisekisa uzinzo lwe-dynamical postural yerobhothi.
Olu uzinzo lubalwa ngomgama we-zero-moment point (ibalwe yi-algorithm) ngaphakathi kwemida yommandla ozinzile ochazwe kwangaphambili.
izicelo
Amanqaku omzuzu onguziro anokusetyenziswa njengemetric yokuvavanya uzinzo ngokuchasene nokuthelwa phezu kweerobhothi ezifana ne-iRobot PackBot xa uhamba kwiirempu kunye nemiqobo.
5. I-Proportional Integral Differential (PID) i-Algorithm yokulawula
I-Proportional Integral Differential Control okanye i-PID, yenza i-loop yempendulo ye-sensor ukulungisa izicwangciso zamacandelo omatshini ngokubala ixabiso lempazamo.
Ezi algorithms zidibanisa zonke i-coefficients ezisisiseko ezintathu, oko kukuthi, umlinganiselo, ukudibanisa, kunye ne-derivative ukwenzela ukuba ivelise uphawu lokulawula.
Isebenza ngexesha lokwenyani kwaye yenza izilungiso apho kufuneka khona. Oku kunokubonwa kwi Iimoto zokuziqhuba.
Ingaba isebenza kanjani?
Umlawuli we-PID usebenzisa imimiselo emithathu yokulawula ukulinganisa, i-integrated kunye ne-derivative impembelelo kwimveliso yayo ukuze isebenzise ulawulo oluchanekileyo nolufanelekileyo.
Lo mlawuli uhlala ebala ixabiso lempazamo njengomahluko phakathi kwendawo efunekayo yokumisela kunye nenkqubo elinganisiweyo.
Emva koko isebenzise ulungiso lokunciphisa impazamo ekuhambeni kwexesha ngohlengahlengiso lwenguqu yolawulo.
izicelo
Lo mlawuli unokulawula nayiphi na inkqubo enemveliso enokulinganiswa, ixabiso elilungileyo elaziwayo laloo mveliso, kunye negalelo kwinkqubo eya kuchaphazela imveliso enokulinganiswa.
Abalawuli basetyenziswa kwishishini ukulawula ubushushu, uxinzelelo, amandla, ubunzima, indawo, isantya kunye naluphi na olunye uhlobo olukhoyo umlinganiselo.
isiphelo
Ke, ezi yayizezinye zeendlela eziqhelekileyo ezisetyenziswa kwirobhothi. Zonke ezi algorithms zintsonkothile kakhulu kunye nomxube we-physicals, i-algebra yomgca kunye nezibalo ezisetyenziselwa ukwenza imephu yezenzo kunye nentshukumo.
Nangona kunjalo, njengoko itekhnoloji ihambela phambili ii-algorithms zerobhothi ziya kukhula zibe nzima ngakumbi. Iirobhothi ziya kukwazi ukugqiba imisebenzi emininzi kwaye zicinge ngakumbi ngokwazo.
Ukuba ulonwabele eli nqaku, rhuma kwiHashDork yeeVeki uhlaziyo ngee-imeyile, apho sabelana ngeendaba zamva nje ze-AI, ML, DL, Programming & Future Tech.
Shiya iMpendulo