A kind of improvement much robot way plans to get used to standard of artificial situation field oneself

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Summary: On the foundation that studying method of tradition of program of much robot method, put forward a kind to improve get used to standard of artificial situation field oneself. This method solves standard of field of traditional and artificial situation through installing fictitious eye punctuation easy the problem that is immersed in local and dinky dot, the job that assumes according to each robot place at the same time and speed, use get used to lien strategy to realize a robot oneself between suit oneself avoid barrier. Emulation experiment test and verify the effectiveness of this method and feasibility. In research of robot of 0 foreword much shift, method compasses equalize is the key of research continuously. The method of the robot plans even if one is searched to arrive from initiative condition according to some function index in the environment that has fraise of target condition best or do not have collision method bestly approximately. The method of much more mobile robot plans to ask many robots set out from respective initial drop, in do not collide with fraise happening and below the circumstance that also did not collide between the robot, along best approximate perhaps and optimal path arrives at respective eye punctuation. Be aimed at the method program problem of the robot, researcher had offerred a lot of meanses, attack like law of case of standard of field of formic group of algorithm, artificial situation, space law, bar, develop law of network of law, genetic algorithm, nerve and artificial immunity algorithm. Standard of field of force of its go-between work as a result of its structure simple, computation goes to the lavatory and satisfy real time sex easily and won wide application. But the method program that method of traditional artificial situation field uses at individual robot more, and put in local minimum to select an issue. S. The Fazli method that dogs through using edge wall will solve the problem that the target cannot amount to near fraise. Cheng Yongjiang use limit cycle law to make the robot is achieved with fraise of escape of contrail of circular arc shape avoid the purpose of barrier. M. H. The Mabrouk local minimum that uses in-house and stereo condition to solve standard of field of traditional and artificial situation selects an issue. Although these methods can solve the local minimum that robot method plans to select an issue on certain level, but the blemish with also exist certain. Edge wall dogs law and rate of program of limit cycle law are slow, law of in-house and stereo state is insoluble problem of static situation field. The article plans to put forward a kind to improve standard of artificial situation field to solve problem of local and dinky dot and program of much robot method, pass emulation test and verify the effectiveness of this method. Standard of field of force of work of legal person of field of 1 traditional and artificial situation is by O. A kind of when Khatib puts forward fictitious method. It regards mobile robot as in a kind of abstract man-made to get the exercise in field of force in the motion in the environment, fraise produces repulsion to the robot, eye punctuation produces gravitation. The robot is mixed in repulsion namely motion is nodded towards the target below the join forces control of gravitation. The function of attraction sign field of the robot is among them, ε is constant of attraction sign field, d(Q, qgoal) is the distance that robot Q nods Qgoal to the target. The function of repulsion situation field of the negative gradient robot that corresponding gravitation is function of attraction sign field is among them, η is constant of repulsion situation field, q Obs arrives for fraise the dot with the closest robot, d(Q, qobs) arrives for the robot the space with the least fraise, d0 is the incidence of fraise. The method of artificial situation field with traditional methods of 2 improvement artificial situation field applies the negative gradient that corresponding repulsion is function of repulsion situation field at the method program of individual robot commonly, and existence is local and bit dinkier [12] problem. When the method that uses at much robot plans, as a result of every robot avoid barrier algorithm is identical, can bring about the iteration between the robot to avoid sometimes barrier, serious when produce dead lock even. Be aimed at 2 afore-mentioned problems, introduce fictitious eye punctuation law and get used to lien strategy oneself in order to improve standard of field of traditional and artificial situation. 2. Law of punctuation of 1 fictitious eye is moving when the robot when local minimum is immersed in to nod in the process, it is through algorithm all round original order punctuation produce punctuation of a fictitious eye. When be immersed in local minimum to nod as a result of the robot, the resultant force that robot place gets is 0, after increasing fictitious eye punctuation, the resultant force that robot place gets is 0, such robots are nodded in fraise, primary objective and motion is nodded to the target below the join forces action of fictitious eye punctuation. When the cancel after the robot walks out of local minimum to nod fictitious target is nodded, to the target the dot moves below the action that the robot chooses in fraise and primary objective. After increasing fictitious eye punctuation, the analysis getting power of the robot is shown 1 times like the graph. 2. 2 get used to lien strategy oneself to realize much robot between avoid barrier, must solve the smallest safety between the robot to be apart from problem and the lien issue between each robots. The robot depends on in the lien discretion below the least safe space the job that robot place assumes, speed and size, the lien equation of the robot is among them, priorityi is the lien of robot I, vi is speed, ti is the importance of the task, sizei is the size of the robot. Become 2 or when many robots encounter, can define the priority that the robot moves according to formulary ① , the robot with high priority is passed first. But when the lien when 2 robots is identical, can consult the following strategy will realize the avoid between the robot: 1) basis between 2 robots the importance of the task, will decide the lien between the robot, the robot with task high value, preferential and current; 2) if the task value between the robot is same, so decide the lien between the robot according to the speed of the robot, the robot with old rate is preferential and current; 3) if the task importance of the robot and rate are same, so the robot produces lien randomly, the robot with high priority is preferential and current. 2. 3 improve standard of artificial situation field concrete step occurs in the light of standard of artificial situation field between local and dinky dot and much robot avoid barrier problem, the local minimum that this literary grace solves standard of artificial situation field with fictitious eye punctuation selects an issue, use at the same time get used to lien strategy to realize much robot oneself between avoid barrier. The improvement flow chart that gets used to standard of artificial situation field is shown 2 times like the graph. If pursue 2 knowable, undertake initialization above all, next whether did robot of current position judgement arrive at eye punctuation according to the robot, if arrive at eye punctuation, end circularly. If did not arrive at eye punctuation, judge a robot to whether be immersed in local minimum to nod, if be immersed in local minimum to nod, walk out of dinky dot with law of fictitious eye punctuation. Judge the distance between the robot to whether be in the least safe space next, if be in the least safe space, undertake lien adjudicates, decide which robot is preferential and current. Finally, according to robot of computation of standard of artificial situation field next the position. 3 emulation experiments to prove the effectiveness of this method, had 2 emulation tests. Experiment 1 will prove fictitious target law can solve local minimum to be worth bit of problem, experiment 2 it is according to getting used to lien oneself strategy realizes the avoid between the robot. Experimental parameter is installed as follows, =1 of gravitation constant ε , = 10 of repulsion coefficient η , fraise incidence D0 = 2 Cm, the floating rate V = 25 Cm/s of the robot. 1) is immersed in local minimum when the robot when the dot, use law of fictitious eye punctuation to be able to make the robot walks out of local minimum nod, arrive at eye punctuation thereby. If graph 3a) place is shown,the robot is immersed in local and bit dinkier circumstance, graph 3b) is the case that uses fictitious eye punctuation to make the robot walks out of local minimum to nod. Between 2) much robot avoid barrier cent is 2 kinds of circumstances: When there is across between the robot, the standard of artificial situation field with every robot respective basis arrives at his eye punctuation, emulation result is shown like graph 4a) place when; should have across between the robot, want to set the priority of every robot, the robot with high priority is preferential and current, emulation result is like graph 4b) - F) place is shown. Among them the lien of the robot is as follows, robot of ＞ of robot 2 of ＞ of robot 3 1. Robot 1 with the robot 3 encountering circumstances fall, robot 3 preferential and current, emulation result is shown like graph 4b) and 4c) place. Robot 1 with the robot 2 encountering circumstances fall, robot 2 preferential and current, emulation result is shown like graph 4d) and 4e) place. Graph 4f) proved this method can realize the method between much robot to plan. This method and general intelligence optimize algorithmic photograph to compare, if bead subgroup optimizes algorithm [14] , have computation to measure sex of small, real time to wait for an advantage by force. The article offerred 4 conclusion program of a kind of improvement much robot method is artificial situation field standard. This method selects an issue in the light of the local minimum of standard of artificial situation field, put forward law of fictitious eye punctuation to solve minimum to nod problem; to be opposite at the same time the avoiding between much robot barrier problem, put forward to get used to lien strategy to realize much robot oneself between avoid barrier. The course emulates an experiment, test and verify the effectiveness that improves algorithm and feasibility. CNC Milling CNC Machining