TAILIEUCHUNG - Designing Autonomous Mobile Robots phần 7

và đã đột nhiên bắt đầu để có được hình ảnh tốt đẹp của các cột này . Nó sẽ không có sửa chữa tất cả các trục của nó ở mức tương tự. Lúc đầu, sự cải thiện nhất là trong các góc phương vị (mức độ quan trọng nhất của tự do), sau đó ở vị trí bên, và sau đó, có phần chậm hơn, vị trí theo chiều dọc. | Chapter 13 Calculating virtual confidence If we normalize the value of virtual confidence to a number from zero to one then we can simply multiply the current programmed speed by the confidence and immediately develop a slowing response to lost confidence. The same can be done for motor torque limits acceleration and deceleration. If we later find this to be a suboptimal reaction we can easily add a simple trapezoidal function to the process as we have discussed for other processes. Confidence and pain Any given dangerous experience should erode confidence in proportion to its seriousness. For example if the robot is forced to circumnavigate an unexpected obstacle it might experience a 50 decrease in confidence. A bumper strike on the other hand might temporarily reduce the confidence to zero and require an operator assist to bring it back to say 33 . An operator assist could be a local or remote restart command that indicates that the conditions are now safe. The details of this mechanism will necessarily depend on the application and the environment. Once pain has caused the robot to become less confident it should stay less confident until it has successfully driven a sufficient distance without further incident. This implies that if the robot became less confident due to navigation difficulties high uncertainty then it will need to acquire enough navigational references to reduce the uncertainty and then drive a sufficient distance to assure it is out of the area of danger. Anyone who has driven country roads late at night knows that if one deer crosses the road in front of you there is a very good chance others are following and that it is wise to slow down. The same is true with most of the environmental problems a mobile robot will face. For example if there is one trash can in the aisle there will probably be more. The amount of confidence loss induced by a pain or near-pain experience should therefore begin to erode with successful travel at a rate .

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