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IU KHIN ROBOT BNG LOGIC M

ThS. V Anh o
Khoa K thut in t 1
Tm tt: Trong bi ny, chng ti s dng logic m iu khin mt i tng di ng robot. Mi chuyn ng c nh ngha bng mt tp m da vo v tr robot, gi tr ca
sensor, khong cch v gc so vi v tr ch. robot trnh chng ngi vt, mt b ghi nh
ng i c to ra robot c th tm c ng i mi khi n gp chng ngi vt. Bi
bo ny bao gm phn 1 gii thiu chung v phng php ny. Phn 2 gii thiu qua v cc
h thng m. Phn 3 gii thiu b m phng robot Khepera v cc php bin i bin cn
thit cho cc h thng iu khin. Phn 4 gii thiu m hnh b iu khin v phn 5 ch ra
cc kt qu t c.
1. Gii thiu
Cc phng php thng thng iu khin robot thng khng nhanh khi mi trng
v v tr ch b thay i. Kh khn ch yu khi iu khin robot l mi trng thng khng
bit trc, ti thi im lp trnh kh xc nh u l hnh ng tt nht do cc kch thch m
robot thu c ti thi im hin ti li da vo cc t th trc ca robot.
Trong bi ny, chng ti a ra mt phng php mi iu khin robot, l da vo h
thng m vi cu trc ghi nh ng i. u im ca phng php ny l h thng m c th
"nh c qu kh". Mc d khng th bit trc kt qu ca mi hnh ng, cu trc ghi
nh ng i c th loi b nhng hnh ng to nn tnh hung khng thun li trc , do
ti u ho c qu trnh hot ng ca robot ti tng thi im.
2. Cc h thng m
Mt h thng m in hnh c ch ra trn hnh 1. u vo ca h thng l cc gi tr r (v
d: gi tr sensor). Khi m ho bin i chng thnh cc gi tr m. Khi hp thnh m s
dng cc lut m, kt hp vi cc u vo m to nn u ra m. Cui cng, khi gii m
s bin i chng, to thnh cc u ra r, c s dng iu khin h thng.
u vo r

B m ho

Cc lut m

u ra r

Khi
hp thnh m

B gii m

Hnh 1. S khi ca mt h thng m

Lut m c xy dng da trn ngn ng t nhin, s dng cc bin ngn ng (distance,
angle, cng sut motor) kt hp vi cc tp m (near, far...)
V d:
Nu khong cch l gn v gc l dng th cng sut motor l dng v b
3. Mi trng m phng
B m phng robot Khepera c s dng kim tra h thng iu khin c cu trc ghi
nh ng i. Robot c 8 sensor ( S0 n S7 ), mi hng c 2 sensor. n gin, mi
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nhm 2 sensor c chuyn i thnh mt gi tr bng cch ly trung bnh cc gi tr c

c. Do , cc sensor c sp xp to nn 4 gi tr tng ng vi cc v tr ahead,
behind, left v right.

Hnh 2. Cu to n gin ho ca sensor

Mi trng m phng Khepera to nn ti mi v tr ca Khepera mt gc gia robot v
trc x. Tuy nhin, gc cn quan tm l gc gia v tr ca robot v ch ( ).

Hnh 3. Tnh ton gc gia robot v cc v tr ch

Gi d l khong cch gia robot v ch , ( xr , yr ) l to ca robot v ( x ', y ' ) l to
ca ch, l gc gia ng ng ni robot-ch v trc x, ta c:

d=

( xr x ') + ( yr y ')
2

= arcsin ( ( yr y ') / d )
Ta c th tnh c theo cch:
Nu + > v > 0

th = ( )

Nu + v 0

th = ( + )

Nu < 0

th = + ( + )

Hng ca robot c xc nh theo gc v c m phng trn hnh 4.

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3/4

/4

left

behin

-/4 < - /4 ahead

/4 < - 3/4 left
-3/4 < - -/4 right
3/4 < - -3/4 behin

ahead

right
-3/4
-/2
Hnh 4. Hng chuyn ng ca robot
4. M hnh b iu khin
4.1 Cc bin ngn ng

u vo b iu khin m c 6 bin ngn ng:

+ 4 bin c t sensor: ahead, behin, left, right.
+ angle (gc) gia robot v ch ( ) (theo radian)
+ distance (khong cch ti ch) ( d ) .
u ra b iu khin m l hai bin ngn ng, l cng sut cp cho mi ng c bc:
ng c left v right.
ch

= 100 0

Path[ ' ]

Hnh 5. C cu ghi nh ng

Ngoi ra, cn mt s bin vo khc trong c cu ghi nh ng i trnh cho robot khi cc
vt cn. C cu ghi nh ng i Path[ ' ] bao gm mt vector 360 v tr tng ng vi gc
(theo ). Path[ ' ] c gi tr bng 0, c ngha l ng i cha ng (gp va chm), khi
robot s b ngn li bng mt hnh ng ca c cu ghi nh ng i. Path[ ' ] c gi tr bng
1, c ngha l robot c php i ng .
Do vector nh ng c biu th bng gc vi = k + , k l hng s (gi s l
hng s, ch bin i theo x v y ), khi , s bin i theo khi x v y thay i.
Nh trn ta tnh c = arcsin
v

arcsin

thay

i,

(( y + y ) /
r

ta

cng

( ( y y ') /
r

hoc

( xr + x ) + ( yr + y )
2

tr

( xr x ')
i

mc

+ ( yr y ' )
bin

. tnh khi x
ca

, l

, trong x, y l cc mc bin i theo

trc x v trc y . Nu thay i th ta s ly cng hoc tr i s thay i , ph thuc

vo phng trnh c s dng tnh .
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4.2 Tp m

6 bin ngn ng trn c chia thnh cc tp m sau:

Cng sut ng c (cc bin ra) c chia thnh 5 tp m: negative_high, negative_medium,
zero, positive_medium, positive_high.
angle ( ) c chia thnh 5 tp m: negative_big, negative_medium, zero, positive_medium,
positive_big.

distance ( d ) c chia thnh 4 tp m: very_far, far, near, very_near.

(b) Khong cch

(a) Gc

(c) Cng sut

Hnh 6. Cc tp m
4.3 Lut m

Do s bin vo ln (mi bin c t nht 4 tp m) nn n gin, ta s loi b cc lut t c

hoc khng c kh nng xy ra, cc lut to ra nhng nh hng ging nhau i vi vic di
chuyn robot. Cc lut c bn s c chia lm 3 nhm theo hng di chuyn ca robot: i
thng (khi khng c vt cn hoc khi vt cn xa), r ( v ch) v i vng ( trnh vt
cn)
right
behind
distance
left motor right
STT gc ahead left
motor
1
Z
VF
VF
PH
PH
2
Z
VF
F
PH
PH
3
Z
F
VF
PH
PH
4
Z
F
F
PH
PH
5
VN
Z
Z
6
PM
VF
PM
PH
7
PM
F
PM
PH
8
NM
VF
PH
PM
9
NM
F
PH
PM
10
PB
VF
NH
PH
11
PB
F
NM
PH
12
NB
VF
PH
NH
13
NB
F
PH
PM
14
Z
N
VF
PM
PH
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15
16
17
18
19
20
21
22
23
24
25
26
27
28
29

Z
Z
Z
Z
Z
Z
Z

N
VN
VN
N
N
VN
VN
N
VN
N
VN
N
VN
N
VN

F
VF
F
N
VN
N
VN
N
N
VN
VN

PM
NM
NM
PH
PH
PH
PH
PM
PH
PH
PH
NM
NH
NH
NH

N
N
VN
VN

PH
PH
PH
PM
NM
NM
NH
NM
NH
NH
NH
PM
PH
NH
NH

Bng 1: Lut m (VF: very_far, F: far, VN: very_near, N: near, Z: zero, PM:
positive_medium, PG: positive_big, NM: negative_medium, NB: negative_big, PH:
positive_high, NH: negative_high, 1-5: i thng, 6-13: r, 14-29: i vng)

Do tn ti mnh kt qu kp trong cc lut nn n c chia lm hai lut vi cng mt

mnh iu kin, mi lut tng ng vi mt motor. V d:
IF angle l NB AND distance l VF AND Path[ ' ] THEN righ motor l PH v left motor l
NH
Mnh ny s c chuyn thnh hai mnh sau:
IF angle l NB AND distance l VF AND Path[ ' ] THEN righ motor l PH
IF angle l NB AND distance l VF AND Path[ ' ] THEN left motor l NH
Ch s ' ca vector ghi nh ng i l gc gia robot v ch (theo ).

Hnh 7. Surface ca b iu khin m

4.4. Hp thnh m v gii m

Trong h thng ny, ta s dng phng php hp thnh m MAX-MIN v phng php gii
m trung bnh trng s cc i.
4.5. Kt qu

Mt s th nghim c thc hin trong cc mi trng khc nhau v di y l mt s

kt qu t c. Gi s cc u c ca 4 sensor nhn gi tr trong khong t 0 (khng c
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vt cn) n 1024 (chm vt cn). khong cch nhn gi tr t 0 n 100. Cng sut mi ng
c trong khong t -10 (cng sut li cc i) n 10 (cng sut tin cc i).
Vi mi trng l tng, nh hnh 8, cn 522 bc ti ch d c hay khng c c cu ghi
nh ng i do thiu cc vt cn c th chn robot.

Hnh 8. V d ng i s 1

Vi mi trng nh trong hnh 9 th cn 754 bc i ti ch vi c cu ghi nh ng.

Nu khng c c cu ghi nh ng, robot s b chn li khi n ht ng do cc cn gy ra.

Hnh 9. V d ng i s 2
5. Kt lun

Cc kt qu t c c m phng bng h thng logic m vi s bc thc hin t hn

khong 40% so vi vic s dng cc lut r. Do c c cu ghi nh ng, robot s khng b
dng li trong cc tnh hung kh khn.
Hiu qu ca c cu ghi nh ng c chng minh. Trong nhiu trng hp, robot
khng th ti ch nu khng c n.
Trong trng hp khng bit r v tr ca robot (v tr x v y) do chng c s dng tnh
, gc sai trong c cu ghi nh ng s c phn tch. Nu c mu trong php chia x cho y
th trong phn mm s c s iu chnh. Nu khng c mu trong php chia th phng php
ny khng thch hp s dng.

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