Amarobhothi ayingxube eyingqayizivele yesayensi nobuchwepheshe ekhiqiza imishini elingisa izenzo zabantu.
Ekuqaleni kwawo-2000, amarobhothi angama-90% ayesezindaweni zokukhiqiza izimoto ethatha indawo yabantu ukuze enze imisebenzi ephindaphindwayo. Manje amarobhothi angakwazi ukushanela izindlu futhi asebenze nasezindaweni zokudlela.
Irobhothi ngokuvamile liqukethe izinhlobo ezintathu zezingxenye; umzimba mechanical; uhlaka lwamathambo kagesi, futhi ekugcineni ubuchopho obenziwe ngekhodi.
Lezi zingxenye zivumela irobhothi ukuthi liqoqe idatha (ngokuvamile lisuka kuzinzwa), lenze izinqumo ngokusebenzisa ingqondo ehleliwe ukuze livumelane nokuziphatha futhi liqedele imisebenzi.
Amarobhothi angase abe nezinhlobo ezintathu zezinhlelo; Isilawuli kude (RC), Ukuhlakanipha okungekhona okwangempela (AI), noma iHybrid.
Izinhlelo ze-RC zidinga ukungenelela komuntu onganikeza isiqalo kanye/noma isignali yokumisa ukuze kwenziwe ikhodi irobhothi. Izinhlelo ziqukethe izinhlobo ezahlukahlukene zama-algorithms, ngalinye linomsebenzi ohlukile.
Iyini i-algorithm?
I-algorithm iwuchungechunge lwemigqa yekhodi irobhothi elingayisebenzisa ukwenza imiyalelo ethile. Ihumusha imibono yonjiniyela olimini oluqondwa amarobhothi.
Ama-algorithms angavezwa ngezinhlobo eziningi zokubhala, okuhlanganisa i-pseudocode, flowcharts, izilimi zokuhlela, noma amatafula okulawula.
Kulesi sihloko sizoxoxa ngezinhlobo ezijwayelekile zama-algorithms asetshenziswa kulezi zinhlelo.
Izinhlobo zama-algorithms asetshenziswa kumarobhothi
1. Noma kunini A* Algorithm
I-algorithm ye-A* iyi-algorithm yokusesha indlela esetshenziselwa ukuthola indlela engcono kakhulu phakathi kwamaphoyinti amabili, okungukuthi, ngezindleko ezincane kakhulu.
Noma kunini i-A* Algorithm inezindleko zesikhathi eziguquguqukayo futhi ingabuyisela indlela emfushane ngisho noma iphazamisekile njengoba ikhiqiza isisombululo esingafanelekile kuqala bese iyasilungiselela.
Lokhu kuvumela ukuthathwa kwezinqumo ngokushesha njengoba irobhothi lingakha phezu kwezibalo zangaphambilini esikhundleni sokuqala ukusuka ekuqaleni.
Isebenza kanjani?
Lokhu ikwenza ngokwenza 'isihlahla' esingena ukusuka endaweni yokuqala kuze kube yilapho kuqalwa indlela yokunquma okusho ukuthi kunendlela engabizi kakhulu etholakalayo.
Igridi engu-2D yenziwe ngezithiyo futhi iseli yokuqala namaseli okuqondiwe kukhonjwe ngophini.
I-algorithm ichaza 'inani' lenodi ngo-f okuyisamba samapharamitha g (izindleko zokusuka endaweni yokuqala ukuya endaweni okukhulunywa ngayo) kanye no-h (izindleko zokusuka endaweni okukhulunywa ngayo kuye endaweni eqondiwe).
Izicelo
Imidlalo eminingi namamephu asekelwe kuwebhu zisebenzisa le-algorithm yokuthola indlela emfushane kakhulu. Ingasetshenziswa futhi kumarobhothi eselula.
Ungakwazi futhi ukuxazulula izinkinga eziyinkimbinkimbi njenge- Newton-Raphson i-iteration isetshenziswe ekutholeni impande eyisikwele yenombolo.
Ibuye isetshenziswe ezinkingeni ze-trajectory ukubikezela ukunyakaza nokushayisana kwento emkhathini.
2. D* I-algorithm
I-D*, i-Focused D* ne-D* Lite ama-algorithms okusesha akhuphukayo ukuze uthole indlela emfushane phakathi kwamaphoyinti amabili.
Kodwa-ke, ayingxube ye-algorithms ye-A* kanye nokutholwa okusha okubavumela ukuthi bengeze ulwazi kumamephu wabo ukuze bathole izithiyo ezingaziwa.
Bangakwazi-ke ukubala kabusha umzila ngokusekelwe olwazini olusha, njenge-Mars Rover.
Isebenza kanjani?
Ukusebenza kwe-D* Algorithm kufana nokuka-A*, i-algorithm kuqala ichaza u-f, h bese idala uhlu oluvulekile noluvaliwe.
Ngemva kwalokhu, i-D* Algorithm inquma inani le-node yamanje isebenzisa inani le-g lamanodi angomakhelwane bayo.
Inodi ngayinye engumakhelwane yenza ukuqagela mayelana nenani lika-g lamanje futhi inani elifushane lika-g lishintshwa njengenani elisha lika-g.
Izicelo
I-D* nezinhlobonhlobo zayo zisetshenziswa kabanzi kumarobhothi eselula kanye imoto ezimele ukuzulazula.
Amasistimu wokuzulazula anjalo ahlanganisa isistimu ye-prototype ehlolwe ku-Mars rovers Opportunity and Spirit kanye nesistimu yokuzulazula ephumelele I-DARPA Urban Challenge.
3. I-PRM Algorithm
I-PRM, noma imephu yomgwaqo enokwenzeka, igrafu yenethiwekhi yezindlela ezingaba khona ezisuselwe kuzikhala ezikhululekile nezinabantu kumephu ethile.
Zisetshenziswa ezinhlelweni zokuhlela eziyinkimbinkimbi kanye nokuthola izindlela ezingabizi kakhulu ezizungeze izithiyo.
Ama-PRM asebenzisa isampula engahleliwe yamaphoyinti kumephu yawo lapho idivayisi yerobhothi ingase ihambe khona bese kubalwa indlela emfushane kakhulu.
Isebenza kanjani?
I-PRM iqukethe isigaba sokwakha nesemibuzo.
Esigabeni sokuqala, imephu yomgwaqo yenziwe igrafu elinganiselwa ukunyakaza okungenzeka endaweni. Ukucushwa okungahleliwe bese kwakhiwa futhi kuxhunywe kwabanye omakhelwane.
Ukulungiselelwa kokuqala nomgomo kuxhunywe kugrafu esigabeni sombuzo. Indlela-ke itholwa ngu-a Indlela emfushane kakhulu ye-Dijkstra umbuzo.
Izicelo
I-PRM isetshenziswa kubahleli bendawo, lapho i-algorithm ibala indlela yomugqa oqondile phakathi kwamaphoyinti amabili, okuyisiqalo, namaphoyinti omgomo.
I-algorithm ingase futhi isetshenziselwe ukuthuthukisa ukuhlelwa kwendlela kanye nezinhlelo zokusebenza zokuthola ukushayisana.
4. I-Zero Moment Point (ZMP) Algorithm
I-Zero Moment Point (isu le-ZMP) i-algorithm esetshenziswa amarobhothi ukugcina ingqikithi ye-inertia iphambene namandla okusabela ephansi.
Le algorithm isebenzisa umqondo wokubala i-ZMP futhi iwusebenzise ngendlela yokulinganisa amarobhothi ahamba nge-bipedal. Ukusebenzisa le-algorithm endaweni ephansi eshelelayo kubonakala kuvumela irobhothi ukuthi lihambe sengathi awukho umzuzu.
Izinkampani ezikhiqizayo ezifana ne-ASIMO (Honda) zisebenzisa le ndlela.
Isebenza kanjani?
Ukunyakaza kwerobhothi elihambayo kuhlelwa kusetshenziswa i-angular momentum equation. Iqinisekisa ukuthi ukunyakaza okuhlangene okukhiqizwayo kuqinisekisa ukuzinza kwe-dynamical postural kwerobhothi.
Lokhu kuzinza kubalwa ngebanga lephoyinti lesikhathi esiyiziro (elibalwe nge-algorithm) ngaphakathi kwemingcele yesifunda sokuzinza esichazwe kusengaphambili.
Izicelo
Amaphoyinti anguziro angasetshenziswa njengemethrikhi ukuhlola ukuzinza ngokumelene nokweqa amarobhothi njenge-iRobot PackBot lapho uzulazula kumarempu nezithiyo.
5. I-Proportional Integral Differential (PID) I-algorithm yokulawula
I-Proportional Integral Differential Control noma i-PID, idala iluphu yempendulo yenzwa ukuze ilungise izilungiselelo zezingxenye eziwumshini ngokubala inani lephutha.
Lawa ma-algorithms ahlanganisa womathathu ama-coefficients ayisisekelo, okungukuthi, ukulinganisa, okubalulekile, nokuphuma kokunye ukuze akhiqize isignali yokulawula.
Isebenza ngesikhathi sangempela futhi isebenzisa izilungiso lapho kudingeka khona. Lokhu kungabonwa ku izimoto zokuzishayela.
Isebenza kanjani?
Isilawuli se-PID sisebenzisa imigomo emithathu yokulawula yokulingana, umthelela obalulekile kanye nokuphuma kokunye ekuphumeni kwaso ukuze sisebenzise ukulawula okunembile nokulungile.
Lesi silawuli sibala ngokuqhubekayo inani lephutha njengomehluko phakathi kwendawo yokubeka oyifunayo kanye nokuhluka kwenqubo elinganisiwe.
Ibese isebenzisa ukulungiswa ukuze unciphise iphutha ngokuhamba kwesikhathi ngokulungisa okuguquguqukayo kokulawula.
Izicelo
Lesi silawuli singalawula noma iyiphi inqubo enomkhiqizo olinganisekayo, inani elikahle elaziwayo lalokho okukhiphayo, nokokufaka kwenqubo okuzothinta okukhiphayo okulinganisekayo.
Izilawuli zisetshenziswa embonini ukulawula izinga lokushisa, ingcindezi, amandla, isisindo, indawo, isivinini kanye nanoma yikuphi okunye okuguquguqukayo okukhona kukho ukukalwa.
Isiphetho
Ngakho-ke, lawa bekungamanye ama-algorithms ajwayelekile asetshenziswa kumarobhothi. Wonke lawa ma-algorithms ayinkimbinkimbi kakhulu anenhlanganisela yezinto ezibonakalayo, i-algebra yomugqa kanye nezibalo ezisetshenziselwa ukwenza imephu yezenzo nokunyakaza.
Kodwa-ke, njengoba ubuchwepheshe buthuthuka ama-algorithms amarobhothi azothuthuka abe yinkimbinkimbi nakakhulu. Amarobhothi azokwazi ukuqedela imisebenzi eminingi futhi azicabangele kakhulu.
Uma usijabulele lesi sihloko, bhalisa ku-HashDork's Weekly izibuyekezo ngama-imeyili, lapho sabelana ngezindaba zakamuva ze-AI, ML, DL, Programming & Future Tech.
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