Nghiên cứu thuật toán điều khiển tránh vật cản và dẫn hướng thích nghi cho hệ robot di động

ISSN: 2354-0575 y •^^ ^ \ "J °"°^ N G H I E N ClTU THUAT TOAN DIEU KHIEN TRANH VAT CAN VA DAN H U ^ N G T H I C H N G H I C H O H E R O B O T DI DQNG STUDY O F O B J E C T AVOIDANCE AND ADAPTIVE NAVIGATION A L G O R I T H M S F O R MOBILE ROBOT Do Hai H^u', Biii Van Dan^ Truang THCS Binh Minh Khodi Chdu, Hung Yin Truong Dai hoe Suphgm Ky thugt Himg Yen Tdm tdt: Bdi bdo trinh bdy qud trinh img dung thugt todn ddn huang thich nghi adaptive navigation vdo qud trinh dudng vd trdnh vdt cdn Ddy Id mdt ki thudt ddn hu&ng cue bd v&i vi tri ban ddu vd dich dd biit tru&c, cdc vdt edn duae phdt hien b&i ba cdm biin khodng each tir robot din vgt cdn gdn nhdt nhimg theo ba hu&ng khac Hu&ng di chuyin cda robot duae quyit dinh b&i hu&ng din dich vd huong trdnh vdt cdn tinh todn dugc Dieu kiin di thue hiin phucmg phdp Id cdc vdt cdn phdi dimg yin Diim mgnh cda phuang phdp Id chi yiu cdu it thdng tin vi mdi tru&ng xung quanh so voi cdc phuong phdp khac vd lugt ddn hu&ng cung dan gidn vd linh hoat han sit dung phuang phdp tru&ng thi (potential field method) Mpt vdn di rdt dugc quan tdm nghiin ciru ve robot lu hdnh la ldm thi ndo di robot cd thi di chuyen theo mpt quy dgo nhdt dinh Trong de tdi ndy tde gid dimg thugt todn ddn hu&ng thich nghi de diiu khiin robot bam theo quy dgo cho tru&c Tir khda: Mobile Robot Adaptive Navigation, Potential Field Method l M d dau Ngay nay, robotic da dat dupe nhimg ttm to Ifln ttong san xuat cflng nghiep eiing nhu ttong doi sflng San xuat robot la nganh cong nghiip tri gia hang ty USD va cang phat triln manh Robot CO the di ehuyln vdi toc vd chinh xac cao d i thyc hien nhirng ddng tac lap di lap lai nhu ban hay son Trong cflng nghiep dien tu, cac robot dat cac linh kiln vdi siiu ehinh xac, tao nen cac thiit bi tinh vi nhu diln thoai di dgng hay may tinh Trong cac hg robot, chiing ta khflng thi khdng nhdc tdi mobile robot vfli nhiing ddc thii rieng ma cac loai robot khac khflng efl Cac tay may cfl dinh chi boat dflng ttong mgt khflng gian bi gidi b^n quanh vi tri eua nd Ngugc Iai, mobile robot cd the di chuyen, do tao nen khflng gian boat dgng rat Ion va eho d i n no da dan khang dinh vai tto quan ttpng khflng t h i thieu ttong nhieu linh vyc, thu hiit dugc rdt nhiiu sy dau tu nghien cuu 2.1 Mo hinh vat ly Mobile Robot Hinh mfl ta cdu tao mpt he thflng co cho he chuyen dflng mobile robot banh Robot dugc thiet k l cfl dgng co dieu khien van tfle dupe gan vao banh phai va ttai thflng qua bg giam tflc cd he so gidm toc la (Kc < I) Nhilm vy eiia motor dieu khien banh trai va phai qua lam cho robot chuyin dong theo myc tieu cua bg dilu khien (Hinh 2) ^ Hinh Md hinh ehuyen ddng ciia hi thdng Robot ty hanh (Mobile Robot) la mpt phin CO vai tto quan ttgng ttong nganh Robot hoc Cung vdi sy phat triin manh me ciia cae he thong Ca - Diln tii, robot ty hanh mgt dugc hoan thi?n va cang cho thdy lgi ich_ eda nfl ttong cong nghiip va sinh hoat Mflt v i n d i rdt duge quan tam nghien cuu v i robot ty hdnh la lam thl^ nao d l robot cfl t h i di chuyin theo mflt quy dao nhit dinh Trong d i tai tac gia diing thuat todn dan hudng thich nghi d i dilu khiin robot bdm theo quy dao la cac bdc ttrong eho trudc Mo hinh d^ng hgc cua h? robot Khoa hoc & Cong nghf - S6 3/2014 Hmh Vector luc tgo chuyen ddng mobile robot bdnh Journal of Science and Technology 49 ISSN: 2354-0575 Trong do; X ,Y : h i tga dp toan eye X , y : Id he tga dp eye bp gdn ttIn robot p: tdm than robot R: ban kinh banh xe L: khodng each hi tam robot d i n tam banh xe (x,y): vitti ciia t a m p 6: Gfle ngugc chilu kim dflng hfl giira x^ vd td robot d i n vat cdn gdn nhdt nhimg theo ba hudng khae Hudng di chuyin eiia robot duge quyit dinh bdi hudng d i n dieb vd hudng tranh vat can tinh toan dugc Diiu kiln d i thuc hien phuang phdp la cdc vat can phdi diing yen Dilm manh cua phuong phap la chi yeu cdu mgt it thong tin ve mfli truong xung quanh so vdi cdc phuang phap khde va luat dSn huflng cung don gian va linh hgat ban su dyng phuang phap ttudng thi (potential field raethod) Ddy chinh la phuong phdp duge tdc gid lira chon bdi bdo Kc: He sfl giam tflc cua motor banh 2.2 Mo hinh todn m6 td Mobile Robot Phuang trinh dgng hgc ciia mobile robot banh la: X cos i = sine [e (11) Trong dfl: x,y chinh la van tflc ciia robot tbeo true X^ va true Y^, V la van tflc thang eiia robot = ea la van tflc goc cua robot > robot quay ngugc chieu kim dflng hfl < robot quay ciing chieu kira dflng hfl Van tflc thdng v va van tflc gflc (o dupc rafl ta nhu sau: 1 2 1 2L 2L 3.1 Md hinh robot va ki t h u a t dSn hudng thich nghi Xet rapt bai toan dan hudng hai chilu (2D) ttong (hinh 3.1) ma vi tri va van tflc cua robot dugc biiu diin ttong he tpa Decac (x(t), y(t) ya v(t) vdi t la thdi gian) Dilm bat dau va kit thuc lan lugt la {x y^ vd (0,0) Gflc biiu dien huong ciia robot la (f), ( < (i) < 27t), dugc so vdi tryc x va CO gia tri ddu la 9o Cfl kha ndng co vat can tten dudng di ciia robot nen myc tieu dat la dan hudng robot din dich dflng thfli tranh dugc vat can Cac gia djnh sau dugc dua de giai bai toan: (Al): robot chi di ehuyln v l phia ttudc (A2): robot re trai hay phdi vdi ban kinh nho nhat (A3): van tfle cua robot la hdng so, tru tiln din gan dich (1.2) Trong dfl: VL = Kc.R.iai la van tfle thang bdnh ttai mobile robot VR = KC.R.IHR la van tfle thang banh phai mobile robot cOj^ Van tflc goc motor gan vdi banh trai mobile robot 0)^: Van tflc gflc motor gan vdi banh phai mobile robot Tu (I.I) va (1.2) suyra' \VL\ sin s9 ~sin9 L L (1.3) Day cung chinh la mfl hinh todn dugc su dung de mfl hinh hfla mobile robot bang matlab Xay d u n g thuait todn dieu khien thich nghi Thudt toan duoc ttinh bay tai lieu tham khao [7] Day la mgt kT thuat dan hudng cyc bfl vdi vi tri ban dau va dich da biet trudc, cac vat can dupc phat hien bfli ba cam biln khoang each 50 Khoa hoc & Cong nghe - So 3/2014 YimhT) Md hinh bdi todn ddn hu&ng thich nghi Phuang trinh chuyin dflng cda robot: x{t) =v(f)cos9(() i[t)^v{t)sm^{t) (1.4) Gia dinh A2 dugc bilu diln bang bat |e(i)|: Mil (1-5) Journal of Science and Technology ISSN: 2354-0575 Xet bieu thue dang todn phuang : ^E[t) = \[e{t)-B-{t)]' ^^^j vdi (i) la goc diiu khiin robot din dich hoac ttanh vdt can NIu nhu khdng cfl vat can va gid dinh A2 khdng dugc xet din thi robot se lap tue quay vi phia dich luc bat ddu va cu thi chay din dich Day cfl the coi la dudng di tfli uu nhung khong khflng kha thi vdi diiu kien cua robot Do dfl, luat dan huong sau day dugc dua : Ht)=-7,{Q(t)-Q'(t)) (J7J vdi la hdng sfl duong Phuang phap suy giam Gradient dugc dp dyng de tim gflc ddn hudng nhdm tdi thiiu hoa E(t), 6* (t) la goc dinh hudng dilu kiln Dl hilu ro van di, ta xet ttuong hgp ddn huong khflng cfl vat can Xem 9" (i) nhu la gflc dinh huong dan robot din dich Trong trudng hgp 9*(() = 9," vdi: ^ U + TT ' U-Tt 3.2.1 Truxmg hgp cam biln diu phat hien vat can: Hinh mfl ta cac truflng hgp phat hien vat can CO the xay Khi vdt can duoc phat hien d ca huflng va di> dr nhu hinh (a), Khoang each din vdt can ben ttdi Ion hon ben phai nin robot nen re trai Dat £ la gfle ttong hinh ve (a), robot nin re - 2L_ mot goc ^ dl ttanh vat can va tuong ty cho truong hop d^ < d^ Dem phan img vao ludt dan huflng, ta dupc: e K i ) - ( f ) + s g n ( d , - d ) ( f - e ) (1.9) vdi£-^ tan~'((dcosa-ti;)/dsina) (1 10) (Ul then e'(i)- eld) else if ( / > tiienif e ; ( f ) > e : ( i ) > e ( i ) or e;{f)