O KHONG CCH V XC NH V TR VT TH BNG PHNG PHP SIU M

(1)

Trn Th Thy (1), Nguyn Quang Thng (1), inh Sn Thch (3) Khoa Khoa hc ng dng, trng i hc Bch khoa HQG TP.HCM (2) Phng th nghim Cng ngh Nano, HQG TP.HCM

TM TT Siu m l dng sng m c ng dng rng ri trong vic o khong cch v nh v vt th. Bo co gii thiu mt phng php o khong cch v xc nh v tr vt th bng sng siu m vi s kt hp phng php xc sut Bayes trong x l tn hiu. Phng php s dng cng thc xc sut ton phn Bayes nh gi kh nng khng gian b chim bi vt th, v t l chim gia cc li trn bn nhm xc nh v tr xc sut cao nht c vt th. ABSTRACT Ultrasound has many applications in distance measurement and object location. This paper presents an approach to this issue by using Bayess method in signal processing. Method uses Bayess formula to evaluate the probability of object occupation in space and the scale of grid on the map to define where is the highest probability of object occupation.

1.GII THIU TI
Bi bo ny gii thiu mt phng php o khong cch v xc nh v tr c vt bng vic s dng sng siu m ng thi s dng cng thc ton phn Bayes nhm nh gi kh nng khng gian b chim bi vt th v t l gia cc li trn bn nhm xc nh v tr c xc sut cao nht c vt.

2.M T TI
2.1. Cm bin siu m v nguyn tc TOF: Sng siu m c truyn i trong khng kh vi vn tc khong 343m/s. Nu mt cm bin pht ra sng siu m v thu v cc sng phn x ng thi, o c khong thi gian t lc pht i ti lc thu v, th my tnh c th xc nh c qung ng m sng di chuyn trong khng gian. Qung ng di chuyn ca sng s bng 2 ln khong cch t cm bin ti chng ngoi vt, theo hng pht ca sng siu m.Hay khong cch t cm bin ti chng ngi vt s c tnh theo nguyn l TOF:
d = v t 2

Hnh2. 1: Nguyn l Time Of Flight Khi sng siu m pht ra v thu v, cm bin siu m, mt cch gin tip cho ta bit v tr cc chng ngi vt theo hng qut ca cm bin. Khi , dng nh trn qung ng i t cm bin n chng ngi vt, sng siu m khng gp bt c vt cn no, v u xung quanh v tr m thong s cm bin ghi nhn c, c mt chng ngi vt. V v th, cm bin siu m c th c m hnh ha thnh mt hnh qut, trong cc im gia dng nh khng c chng ngi vt, cn cc im trn bin th dng nh c chng ngi vt nm u . [1]

Hnh 2.2: Tm qut ca cm bin siu m.

Nh vy, khi pht v thu v sng siu m, ta ghi nhn c mt vector nh v, vi hng l hng ca cm bin v ln l khong cch t cm bin n chng ngi vt. V khi , nu ta ni cm bin ghi nhn mt vector 100cm, theo hng theta, c ngha l trong khong t cm bin ti chng ngi vt hng theta dng nh khng c vt cn no, v chng ngi vt nm u , cch cm bin theo hng pht ca cm bin (theta) mt khong 100cm. Hnh 2.2 ch ra rng nu c vt cn nm trong tn qut ca cm bin siu m, th vng qut ca siu m c th c phn phn ra lm 3 vng. Vng 1 l vng pha ngoi hnh qut, l vng dng nh c vt cn no . Vng 2 l vng gn tm qut, dng nh khng c vt cn no. V vng 3 l vng cn li sau vt cn, cho n v tr xa nht trong tm qut ca siu m, y l vng cha bit, v siu m khng th nhn xuyn qua vt cn, chng ta khng xt ti vng ny. 2.2. Cng thc xc sut Bayes. u nhng nm 1980, Hans P. Moravec v Alberto Elfes s dng cc gi tr xc sut nh gi kh nng b chim bi chng ngi vt, v t l gia cc li trn bn . [2] Trong cng thc Bayes[3], m hnh cm bin l mt xc sut c iu kin. c dng P(s|H). Cc xc sut ny sau c chuyn i thnh P(H|s) s dng cng thc ton phn Bayes. u tin ta ni v xc sut c iu kin: Cc cm bin siu m ch c th nhn thy mt trong 2 s kin l mt li[i, j] l b chim hay cn trng m thi. Gi H= {H, - H}( H trong ch Hypothesis, c ngha l gi thit), vi H l s kin li b chim, v H l s kin li cn trng. Xc sut H xy ra c tnh bi P(H), trong : 0 P(H)1 (2.1) V H l mt tp ch gm 2 s kin H v H, do P(H) c tnh khi bit P(H) theo cng thc P(-H)= 1-P(H) (2.2) y l cng thc xc sut khng iu kin. Cc xc sut khng iu kin th khng c quan tm y, bi v chng khng cung cp cho ta thng tin trc . Cc thng tin li khng tnh ton g ti thng s c s ca cm bin. ( S trong ch sense, c ngha l cm nhn). Khi cm bin siu m tr v thng s s, ngi ta cn tnh ton kh nng ca mt li nm trong vng qut ca cm bin siu m l b chim hay cn trng th l xc sut c iu kin, k hiu P(H|s) hay P(-H|s). V ta c: P(H|s) + P(-H|s)= 1 Vi mi li trong vng I: (2.3)

P(H)=

Rr )+( ) R xMAX 2

(2.4) (2.5)

P(-H)= 1- P(H) Vi mi li trong vng II: P(H)=

( Rr )+( ) R 2

(2.6) (2.7)

P(-H)= 1.0-P(H)

Trong , R l tm qut xa nht ca cm bin, l na gc m ca cm bin, r l khong cch t cm bin ti li ang xt, l gc lch gia trc thng gc ca cm bin n li ang xt. Thnh phn MAX c nhn vo cng thc(2.4) th hin cho vic khng bao gi chng ta cho rng mt li b chim hon ton, v nh vy c ngha l n s khng bao gi thay i c na.

Hnh2. 3: Cc vng ghi nhn t cm bin Siu m Mt v d tnh ton vi cc thng s ca cm bin nh sau: R=20 dm, = 150, khong cch o c l r=12dm, ta c:

Cm bin c t ti ( 0,2). Tnh ton cho ( 11,1) v (7,2) ta c: Vi (11,1) c: P(H)=

( 20 12 15 5 )+( ) 20 15 x0.98 =0.52 2

P(-H) = 1.0-0.52 =0.48

Vi ( 7,2) ta c:

P(s1s2 .sn) =

P ( s1 H )...P ( s n H ) P ( H ) P ( s1 H )....P ( s n H ) P ( H ) + P ( s1 H )......P ( s n H ) P ( H )

15 0 20 7 ) )+( 15 20 P(H)= =0.83 2 (

P(-H)= 1.0-0.83= 0.17 Mt m hnh cm bin a mt gi tr tr v P(s|H) c ngha l xc sut khi cm bin qut qua mt li khi li thc s b chim. Nhng chng ta li cn tnh P(H|s) l xc sut mt li l b chim khi mt cm bin siu m qut qua li . Chng ta c cng thc ton phn Bayes cho vic chuyn i nh sau: P(H|s)=

(2.14) ( thiu phn excel ca kt qu thc t, do em fai hiu chnh li cht xu ) 2.3. Nhn xt kt qu: Kt qu thu c thc t vn khng tt nh mong i v xy ra sai s: sai s lp, hin tng Forecasting, hin tng Crosstalk( c cho) ca cm bin siu m[6]. Sai s lp v sai s do hin tng Forecasting l nhng sai s c th qun l c trong khi sai s do hin tng Crosstalk l khng th qun l c. Tuy nhin do thi lng bi bo c hn, nn chng ti xin php cp ti phn ny trong mt bo co khc: c th v chi tit hn.

P( s H ).P ( H ) P( s)

(2.8)

M P(s)=P(s|H)P(H)+P(s|-H).P(-H) Nn: P(H|s)=

P( s H ) P( H ) P ( s H ) P( H ) + P( s H ) P( H )

(2.9) (2.10)

Vy ti sao phi nhn thm h s MAX sau cng thc tnh xc sut P(H)? Nu gi s c mt trng hp no lm cho P(H)=1. Khi , P(H|s)=
P ( s H ).1 P( s H ).1 + P( s H ).0 =1

Hnh 2.4: Hin tng Forecasting

(2.11)

V nh vy, d cm bin c nhn ra xc sut rt nh ca li ang xt i na, vic tinh ton xc sut c iu kin lun cho kt qu l 1. bo m iu ny th MAX phi c a vo cng thc tnh. Ngoi ra , hng s MAX c ngha: mt khi khng bit chnh xc thng tin, th khng bao gi c php khng nh mt cch hon ton. Trong bi ton ny, vic khng nh hon ton l vic cho P(H) bng 0 hoc bng 1, trong khi , qu trnh tnh ton khng th xy ra P(H) =0 khi m khong cch nh nht o c ca cm bin lun b gii hn do c tnh tm qut ca n. Thng thng ngi ta dng hng s MAX c gi tr khong 0.98.[4],[5] Nh vy, nh gi mt li(i, j) khi li c 2 hay nhiu cm bin qut qua, mi cm bin cho mt gi trP(si|H). Ta c:
P(H | s1s2.sn) = P( s1s2 ....sn H ) P ( H ) P( s1s2 .....sn H ) P ( H ) + P( s1s2 ....sn H ) P( H )

Hnh 2.5: Hin tng Crosstalk

3.KT LUN
Vi bi bo Sensor Fusion in Certain Grid for Mobiles Robots ca HANS P. MORAVEC, c rt nhiu nh khoa hc nghin cu v pht trin thut ton nh v v gii thut Bayes. V tt c u ng dng vo robot di ng. Ngy nay, ngi ta vn tip tc nghin cu v pht trin vic ch to cc robot c gn cm bin siu m ng thi vi cc cm bin khc nh laser, camera kt hp vi cc cng ngh ca vin thng nh GPS, GSM nhm nng cao chnh xc trong vic nh v cng nh thm d mt khong khng gian no xy dng bn .

(2.12) Mt khc: P(s1s2.sn |H)P(H)=P(s1|H)P(s2|H).P(sn|H) (2.13)

4.TI LIU THAM KHO

[1] J. BORENSTEIN, H.R. EVERETT, and L. FENG, Where Am I? Sensor and Methods for Mobile Robot Positioning, The University of Michigan, 1996 [2] HANS P. MORAVEC, Sensor Fusion in Certain Grid for Mobiles Robots,1989 [3] WILLIAM M. BOLSTAD, Introduction to Bayesian Statistics , University of Waikato Hamilton, New Zealand, 2004

[4] VASSILIS VARVEROPOULOS, Robot Localization and Map Construction Using Sonar Data, Rossum Project, Published online [5] ROBIN R. MURPHY, Introduction to AI Robotics, A Bradford Book, The MIT Press Cambridge, Massachusetts, London, England, 2000 [6] J. BORENSTEIN and Y.KOREN,Error Eliminatingrapid Ultrasonic Firing for Mobile Robot Obastacle Avoidance.IEEE Transaction on Robotics and Automation, 1995