De Cuong 235

cng lun vn thc s GVHD : TS.
HUNH THI HONG

HOCH NH NG I TI U CHO XE LN
THNG MINH
MC LC
1/ t vn : ........................................................................................................................... 3
1.1/ Gii thiu vn : .......................................................................................................... 3
1.2/ ngha khoa hc: ......................................................................................................... 3
1.3/ ng dng thc tin: ...................................................................................................... 3
2/ Tng quan cc cng trnh lin quan v cc u khuyt im: .............................................. 3
2.1/ Gii thut di truyn (Genetic Algorithm): .................................................................... 5
2.2/ Gii thut di truyn kt hp vi iu khin m: ......................................................... 5
2.3/ Phng php Q-learning: .............................................................................................. 6
2.4/ Xu hng nghin cu hin nay: ................................................................................... 7
3/ Mc tiu ca ti: .............................................................................................................. 7
3.1/ Kt qu d kin t c: ............................................................................................ 7
4/ Phng php nghin cu: .................................................................................................... 8
4.1/ Gii thiu limit cycle: ................................................................................................... 8
4.2/ Thut ton limit-cycles (vi vng o l ng trn): .................................................. 8
4.3/ Thut ton limit cycle (vi ng o l ng ellipse): ............................................ 19
5/ Cu trc v ni dung d kin ca lun vn thc s: .......................................................... 24
6/ K hoch thc hin lun vn: ............................................................................................ 24
TI LIU THAM KHO ...................................................................................................... 25
HVTH: L THANH NGUYN 1
cng lun vn thc s GVHD : TS. HUNH THI HONG
LI CM N
Trc ht, em xin gi li cm n chn thnh nht n TS. Hunh
Thi Hong, HBK HCM, ngi nhit tnh hng dn em trong qu
trnh thc hin cng lun vn ny cng nh cung cp cho em nhng
ti liu gip nh hng nghin cu ca mnh... Bn cnh , em cng gi
li cm n cc bn trong i robot scoccer chia s nhng kinh nghim
qu bu trong vic iu khin robot t hnh.
Em hi vng s c tip tc nhn c s h tr ca mi ngi trong
thi gian ti c th hon tt chng trnh thc s ca mnh.
Xin chc mi ngi sc khe, an lnh, hnh phc
Thn i
Hc vin
L Thanh Nguyn
1/ t vn :
1.1/ Gii thiu vn :
Ngy nay, khoa hc, k thut pht trin; cuc sng con ngi ny cng c
nng cao; ci thin v cht v lng. Khi nhu cu cuc sng tng cao; con ngi
cng quan tm nhiu hn n s tin nghi; sc khe v.v.. cng chnh l l do m
nhng chic xe ln y tay truyn thng c thay th dn bng nhng chic xe ln
t hnh; nhng chic xe ln thng minh nhn bit v di chuyn theo mnh lnh ca
con ngi.
Xe ln thng minh c nhiu nc tin tin trn th gii nghin cu v
pht trin, tuy nhin vn cha hon thin ht v bi ton hoch nh ng i vn l
vn mi; cn b ng nhiu vn cha gii quyt. i vi mt nc ang pht
trin nh nc ta th vic tip cn; nghin cu mt chic xe ln nh vy l vn
mi m, l th v nhiu th thch. Trong , vic hoch nh ng i c nh
gi l bi ton hay v mi, cn c quan tm.
Chnh v vy, trong khun kh ca lun vn; em xin xut cch tip cn v
hng gii qut cho vic hoch nh ng i ti u cho xe ln thng minh.
1.2/ ngha khoa hc:
Vic hoch nh ng i cho xe ln thng minh s gp phn vo vic hon
thin hn gii thut iu khin chic xe ln; a ra mt gc nhn mi hn; mt cch
tip cn khc trong vic nghin cu, pht trin v c th t m rng ra nhng
hng nghin cu khc tt hn, ti u hn cho vic iu khin xe ln thng minh
ni ring v iu khin robot ni chung, c bit l robot t hnh.

1.3/ ng dng thc tin:
ng dng vo vic iu khin; nghin cu pht trin, ch to xe ln thng
minh thng minh nc ta; phc v cho cc bnh vin; ngi khuyt tt v ngi
gi.
2/ Tng quan cc cng trnh lin quan v cc u khuyt im:
Xe ln t hnh, bn t ng c nghin cu v pht trin nhiu nc v
cc trng i hc trn th gii. Mt s cng trnh tiu biu c cng b nh :
chic xe ln Aviator, ca gio s Nguyn Tn Hng, ngi c gc Vit, i hc
cng ngh Sydney:
Hay nh chic xe ln ca hng Toyota kt hp vi Vin khoa hc cng nghip
tin tin quc gia Nht Bn (Japan's National Institute of Advanced Industrial
Science)
V cn nhiu hng khc na. Mc d tt c nhng sn phm trn u l nhng
thnh tu khoa hc xut sc nht nhng vn hnh c chic xe ln vn ph
thuc nhiu vo ngi s dng; v vn hoch nh ng i vn cha c quan
tm v ng dng.
Khong hai thp k gn y; cc cng trnh lin quan n vn hoch nh
ng i cho robot, hay xe ln thng minh mi c cng b. Phn ln trong s
s dng cc thut ton nh gii thut di truyn; iu khin m kt hp vi gii thut
di truyn; thut ton Q-learning Bn cnh , vic hoch nh ng i cn c
gii quyt bng cc gii thut my tnh.
C th tm lc mt s phng php tip cn trong vic hoch nh ng i
cho robot di ng, xe ln thng minh ca mt s cng trnh cng b:
2.1/ Gii thut di truyn (Genetic Algorithm):
Gii thut di truyn l mt k thut ca khoa hc my tnh nhm tm kim gii
php thch hp cho cc bi ton ti u t hp (combinatorial optimization). Gii
thut di truyn l mt phn ngnh ca gii thut tin ha vn dng cc nguyn l
ca tin ha nh di truyn, t bin, chn lc t nhin, v trao i cho.
Gii thut di truyn thng c ng dng nhm s dng ngn ng my tnh
m phng qu trnh tin ho ca mt tp hp nhng i din tru tng (gi l
nhng nhim sc th) ca cc gii php c th (gi l nhng c th) cho bi ton ti
u ha vn . Tp hp ny s tin trin theo hng chn lc nhng gii php tt
hn.
Thng thng, nhng gii php c th hin di dng nh phn vi nhng
chui 0 v 1, hoc cc chui s, nhng li mang nhiu thng tin m ha khc nhau.
Qu trnh tin ha xy ra t mt tp hp nhng c th hon ton ngu nhin tt c
cc th h. Trong tng th h, tnh thch nghi ca tp hp ny c c lng,
nhiu c th c chn lc nh hng t tp hp hin thi (da vo th trng),
c sa i (bng t bin hoc t hp li) hnh thnh mt tp hp mi. Tp
hp ny s tip tc c chn lc lp i lp li trong cc th h k tip ca gii
thut.
Do , vic ng dng gii thut di truyn gii bi ton hoch nh ng i
hon ton c th tm ra c p n tt nht, ng i tt nht. Tuy nhin, n li
vp phi mt hn ch l ch ng dng tt trong mt mi trng c nh, bt bin. V
qun th ban u, hay chnh l nhng gi tr nh hng c ly thng tin t mi
trng, hay mt a hnh, bn c th; do khi mi trng thay i; ton b cc
gi tr tnh ton, thu thp thng tin phi lm li t u, gy lng ph thi gian v kh
p ng c i vi mi trng rng c nhiu s bin ng hay thay i t ngt.
2.2/ Gii thut di truyn kt hp vi iu khin m:
Mc tiu ca phng php ny l iu khin robot di ng n c vt cn v
n c mc tiu. Trong , b iu khin m ng vai tr ra quyt nh; hng
dn cho robot n vt cn v i n mc tiu; cn gii thut di truyn ti u ha b
m. Phng php ny c th s dng trong nhng khng gian, nh cn phng nh,
m c thng xuyn b di chuyn. Tuy nhin, vic thit k b iu khin m
ph thuc vo kinh nghim ca ngi thit k; bn cnh , cc kt qu cng b
dng phng php ny p dng cho vic quy hoch ng i cha nhiu; ch m
phng khng gian nh, n mt vt cn.
2.3/ Phng php Q-learning:
Q-learning l phng php hc tng cng rt hiu qu cho bi ton tm
ng do phng php ny thc hin theo kiu off-policy. V vy phng php ny
c kt hp vi cc phng php khc gii quyt mt s bi ton c bit nh
tm ng i trong mng (Q routing) hay tm ng ca h thng multi-agent (Ant-
Q). V mt s cng trnh trong nc p dng thnh cng phng php ny
gii quyt mt s bi ton tm ng c th. Trc y,ngi ta gii quyt cc bi
ton tm ng bng cc gii thut tm ng c in. Tuy nhin cc thut ton tm
ng c rt nhiu hn ch, v d nh i hi mi trng phi xc nh, c nh v
khng x l tt nhiu tnh hung thc t. Ngy nay con ngi ng dng tr tu nhn
to, cng vi s h tr ca my tnh; robot, hay i tng, c th t tm ra quy lut
hnh ng ni chung, tm ng i ni ring thng qua cc kinh nghim thu c
t nhng hnh ng thc hin trc ; hay cn gi l hc tng cng. C nhiu
phng php hc tng cng khc nhau, trong Q-learning c p dng kh ph
bin nc ta trong vic gii quyt bi ton tm ng i. Mt s hnh nh minh
ha cho phng php Q-learning:
Phng php Q-learning gii quyt cho bi ton ri rc; hc, th v sai, ng
thi kt hp vi mt s thut ton nh Graph, Markov nh gi kt qu hc v t
a ra kt qu tt nht. u im ca phng php ny l lun lun hi t, ngha
l lun c th a ra c kt qu ti u, tuy nhin kt qu li ph thuc vo s ln
hc, ngha l hc, cp nht cng nhiu th kt qu cng chnh xc, iu ny i khi
gy ra mt thi gian tnh ton, cp nht trong nhng khng gian nh nhng nhiu
vt cn. Bn cnh , y l phng php cho bi ton ri rc, do vy khi p dng
gii quyt cc bi ton lin tc nh robot t hnh, xe ln thng minh, i hi
phi thit k thm mng nron chun ha t lin tc sang ri rc ri mi p dng
c Q-learning.
2.4/ Xu hng nghin cu hin nay:
Hin nay trn th gii, trong vic nghin cu, pht trin v ch to xe ln
thng minh, ngi ta kt hp nhiu phng php vi nhau, ch khng nht thit l
ch p dng tng phng php n l.
Trong vic hoch nh, tm ng i cho xe ln thng minh, bn cnh nhng
phng php nh gii thut di truyn, limit cycle, Q-learning v.v.. ngi ta m rng
nghin cu p dng cc phng php s, my tnh c th a ra ng i cho xe
ln thng minh.
Bn cnh , nhng bi bo nghin cu v vic hoch nh ng i cho robot
t hnh; hay xe ln thng minh xut hin trong thi gian gn y (2007 - 2011);
iu ny th hin s quan tm rt ln ca cc nh khoa hc trn th gii v vn
ny. Tuy nhin, cc nghin cu ny cn ri rc, cha c h thng; cc tc gi tip
cn vi nhng hng khc nhau.
Trn thc t, vic hoch nh tt ng i, s quyt nh v hon thin vic
iu khin robot ni chung v xe ln thng minh ni ring, to ra nhng chic xe
ln thn thin vi ngi s dng.
3/ Mc tiu ca ti:
Mc tiu mong mun t c l tnh ton, hoch nh ng i cho xe ln
thng minh, v m phng li kt qu, trong nhng khng gian, bn c th, bit
ta im khi hnh, im kt thc, v ta mt s vt cn.
Thut ton d kin s dng hoch nh ng i cho xe ln thng minh l
limit-cycle, vi ng o bao quanh vt cn l ng trn kt hp vi ng
ellipse. Thut ton limit cycle ellipse v c bn c xy dng t thut ton limit-
cycle vi ng o bao quanh vt cn l ng trn, tuy nhin vi ng o mi,
ng ellipse, s mang tnh tng qut cao hn v gip robot t hnh hay xe ln
thng minh linh hot hn trong vic trnh n cc vt cn c nhiu dng khc nhau.
3.1/ Kt qu d kin t c:
Tnh ton, m phng, xy dng chng trnh hoch nh ng i ti u cho
xe ln thng minh vi:
u vo: ta im xut pht, im n, v bn a hnh.
u ra : qu o ti u cho xe ln thng minh.
4/ Phng php nghin cu:
C s l thuyt:
4.1/ Gii thiu limit cycle:
Phng php nh hng, hoch nh ng i dng limit cycle (limit cycle
navigation) l mt phng php nh hng mi c nh gi cao trong nhng
nghin cu gn y . Vi nhng thng tin lin quan v v tr ca vt cn, mc tiu,
robot v nhng vt cn lin quan n ng i ca robot, sau thay i hng
chuyn ng dng cc vng o, i n mc tiu.
d tip cn, u tin s tm hiu thut ton limit cycle vi vng o l ng
trn, sau l ng ellipse.
4.2/ Thut ton limit-cycles (vi vng o l ng trn):
Nhim v ca vic nh hng cho i tng trong mi trng cha bit l
dn robot n c mc tiu nh trc m vn trnh c cc vt cn c nh hoc
thay i. Gi s rng c vt cn v robot u c bao quanh bi cc hnh tr c
bn knh ln lt l
,
O R
R R
v mc tiu c xem nh mt vng trn nh c bn
knh R
T
:
Hnh 1. Vng trn gii hn quanh vt cn
Trong :
D
ROi
: khong cch gia robot v vt cn i
D
PROi
: di ng trc giao ca vt cn i vi ng l
D
TOi
: khong cch gia vt cn v mc tiu
R
Oi
: bn knh vt cn
R
Ii
: bn knh vng trn nh hng
pht hin vt cn, ta a ra nh ngha vng trn nh hng, hay tm gi l
vng trn o vi bn knh c xc nh:
Ii R Oi
R R R Ma + +
Vi Ma c xem l dung sai an ton, bao gm : an ton iu khin, s
chnh xc v.v..
4.2.1/ Cu trc iu khin:
Hnh 2. Cu trc iu khin dng nh hng cho robot di ng
Cu trc iu khin c a ra nhm qun l s kt hp gia cc l thuyt
iu khin c bn trong khi vn phi m bo tnh n nh trong ton b qu trnh
iu khin. Mc tiu ca vic iu khin bao gm an ton; chy m v nh hng
nhanh cho robot.
4.2.2/Phn cp chn la hnh ng (Hierarchical action selection):
D
PROi
< R
Ii
Trnh vt
cn
Chy ti
mc tiu
End
Begin
Yes
No
Gii 1. Minh ha thut ton phn cp chn la
Nu : Quan st pht hin vt cn (D
PROi
< R
Ii
, D
ROi
< R
Ii
) th:
Chn gii thut n vt cn
Cn khng: Chn gii thut chy ti mc tiu
Kt thc.
Nh vy, ta thy r rng b iu khin da vo nhng tn hiu phn hi v m
a ra cc chn la. Nu khi tn hiu a v bo l robot ang gn vt cn th b
iu khin n vt cn s c kch hot; gip robot trnh n vt cn v sau
tip tc chy ti mc tiu.
Hu ht cc b iu khin trnh vt cn ch c s dng khi robot tin ti
gn vt cn (D
ROi
< R
Ii
). Khi s dng thut ton 1, b iu khin trnh vt cn s
c kch hot ngay khi pht hin tn ti t nht mt vt cn nm trn ng di
chuyn ca robot hng ti mc tiu (D
PROi
< R
Ii
). V vy, trong khi c lng, d
on vic kch hot b iu khin trnh vt cn th thut ton 1 gim thi gian tin
ti mc tiu ca robot, c bit l trong mi trng ln xn.
Hnh 3. Hnh minh ha qu o robot khi c d bo, n vt cn
Thut ton phn cp la chn c dng qun l vic chn la gia hai hay
nhiu b iu khin khc nhau; v vy chin thut trnh vt cn c tch hp trong
cu trc ca ton b iu khin.
4.2.3/ Cc b iu khin c bn:
Cu trc ca b iu khin bao gm nhng b iu khin con khc nhau, cc
b iu khin c bn. Nhng lut iu khin ny u c xy dng v da trn
iu kin n nh theo Lyapunov.
M hnh ng hc thun ca robot t hnh:
Hnh 4. Robot trong h ta tham chiu
2 1
2 1
cos cos sin
sin sin cos (1)
0 1
x l l
v
y l l
w

_ _
_

+

,

, ,
&
&
&
&
Vi: x,y, l cc bin trng thi ca mt chu k ti im P
t
c ta v
tung (l
1
, l
2
) tham chiu t h ta tng i (X
m
, Y
m
).
v: vn tc di ca robot ti P
t
w: vn tc gc ca robot ti P
t
4.2.4/ iu khin i n mc tiu:

B iu khin ny dn ng cho robot tin v pha mc tiu, vi mc tiu
c minh ha l ng trn tm (x
T
, y
T
) bn knh R
T
(hnh 1). Lut iu khin
dng iu khin v tr ti im P
t
= (l
1
, 0) (hnh 5). Ta xem mc tiu l
mt vng trn c bn knh R
T
, v vy m bo ta tm robot hi t tim cn
ti mc tiu th l
1
< R
T
.
Ta c:
1
1
cos sin
(2)
sin cos
l x v v
M
l y w w

_ _ _ _

, , , ,
&
&
Vi M l ma trn kh nghch.
Sai s vi tr:
x T
y T
e x x
e y y

'

V tr ca mc tiu th khng thay i theo h quy chiu tuyt i, do :

x
y
e x
e y

'
& &
& &
Nhng k thut c in n nh h thng tuyn tnh c th c dng n
nh tim cn sai s v khng. y, ta s dng b iu khin t l:
1
, 0 (3)
x
y
e v
KM K
e w

_ _
>

, ,
Xt hm Lyapunov:
2 2 2
1
1
, (4)
2
x y
V d d e e +
d : khong cch gia robot v mc tiu.
m bo cho vic n nh tim cn cho b iu khin th
1
0 0, 0 V dd d < < >
& &
; mt khc:
, 0
dd d
d d
dt t
<
&
; do vy
1
0 V <
&
. B iu
khin n nh theo Lyapunov.
4.2.5/ iu khin trnh vt cn:
thc hin vic trnh cc chng ngi vt, robot cn theo chnh xc chu k
gii hn ca trng vector (limit-cycle vector fields). Cc trng vector ny c
chia lm 2 chiu khc nhau:
Qu o chuyn ng theo chiu kim ng h:
2 2 2
2 2 2
( )
(5)
( )
s s s c s s
s s s c s s
x y x R x y
y x y R x y
+
'
+
&
&
Qu o chuyn ng ngc chiu kim ng h:
2 2 2
2 2 2
( )
(6)
( )
s s s c s s
s s s c s s
x y x R x y
y x y R x y
+
'
+
&
&
Hnh 5. Qu o pha a) chiu kim ng h b) ngc kim ng h
Vi (x
S
, y
S
) l ta tng ng vi v tr ca robot theo tm ca vng trn hi
t, c bn knh l R
C
. Qu o chu k, R
C
=1 (hnh 5), cn gi l mt chu k gii
hn (limit cycle). N ch ra hng ca ng i (cng hoc ngc chiu kim ng
h) theo ta (x
S
, y
S
). Cc qu o t tt c cc im (x
S
, y
S
), bao gm nhng
im bn trong ng trn, di chuyn v pha ng trn.
Lut iu khin bm theo cc qu o ny l iu khin nh hng, robot
s c iu khin theo tm ca cc trc ca n, vi (l
1
, l
2
) = (0,0). Gc nh hng
mong mun cho robot
d
, c a ra da vo cc cng thc (5), (6):

arctan (7)
s
d
s
y
x

,
&
&

V sai s : (8)
e d

iu khin robot i theo gc iu nh hng mong mun, ta a ra lut
iu khin:
(9)
d p e
w K +
&
Vi K
P
> 0, l hng s; v :
(10)
e p e
K
&
Xt hm Lyapunov :
2
2
1
(11)
2
e
V
Ta c :
2
2
0
e e p e
V K <
& &
, lut iu khin ny n nh theo Lyapunov.
Ngoi ra, vn tc v ca robot trong lut iu khin ny l hng s, v = const.
Tip theo, phng php tng th xy dng c thut ton trnh vt cn s
c gii thiu. Thut ton c pht trin da trn nguyn tc kch thch v phn
hi, thc hin c iu ny th im quan trng l:
o Phi pht hin c vt cn trnh.
o a ra c hng ca vic trnh n (theo chiu kim ng h hay
ngc li).
o a ra tiu chun xt xem robot n c vt cn hay cha.
Cc bc trn phi c tun theo v p dng ng thi cng phi m bo
qu o di chuyn ca robot l an ton, trn tru v trnh cc tnh hung khng
mong mun nh b kt li u v.v.. v iu ny c m bo bi lut iu
khin s dng, lut iu khin trnh vt cn. Cc bc cn thit thc hin c
thut ton trnh vt cn, thut ton 2, s c trnh by di y:
4.2.5.1/ Gin gii thut ca thut ton trnh vt cn:
B e g i n
x
O
<= 0 c x c n h t i (t - )
T i p t c s d n g
c h i u c
E n d
y e s
n o
y e s
n o
C I i
R R
T m c h i u c a
l i m i t c y c l e
T m b n k n h R
C
c a l i m i t c y c l e
C Ii
R R +
2 2 2
2 2 2
( ) ( )
( ) ( )
s O s s c s s
s O s s c s s
x si g n y y x R x y
y si g n y x y R x y
+
'
+
Q u o h t Q u o y
Gin 2. Gii thut trnh vt cn
Vi
l hng s v
Ma =
(hnh 1), m bo rng robot khng di chuyn qu
st vi bn knh R
Ii
.
4.2.5.2/ Cc bc thc hin thut ton trnh vt cn:
Mi ln ly mu, tnh khong cch D
ROi
, tnh di ca ng trc giao D
PROi
,
cho mi vt cn tim nng i (D
PROi
< R
Ii
).
Trong s cc vt cn, gy cn tr cho robot vn ti mc tiu, chn vt cn
gn robot nht (D
ROi
nh nht). Vt cn s c cc thng s c th: bn knh R
Oi
,
v v tr
( , )
obst obst
x y
.
Sau khi xc nh vt cn gn nht, ta cn xc nh bn vng c bit xung
quanh vt cn (hnh 6): trnh vt cn thun hoc ngc chiu kim ng h, qu o
pha ht hoc y. T a ra quyt nh iu khin robot.
Hnh 6. hnh minh ha 4 vng c bit quanh vt cn.
4.2.5.3/ phn bit gia 4 vng trn:
nh ngha mt ta tham chiu mi (hnh 6) tha cc iu kin sau:
Trc X
O
nm trn ng ni t tm vt cn
( , )
obst obst
x y
ti tm ca mc tiu,
c chiu dng hng ti mc tiu.
T X
O
quay mt gc 90
0
theo chiu dng lng gic ta c trc Y
O
.
S dng khung tham chiu ta khi thay i v tr ca robot, c ta
(x,y)
A
, (theo ta tuyt i), i vi khung tham chiu lin quan n vt cn
(x,y)
O
. Vic chuyn i c thc hin khi s dng php bin i ng nht:
1
cos sin 0
sin cos 0
(12)
0 0 0 1 0 0
1 0 0 0 1 1
obst
obst
O A
x x x
y y y

_ 1 _
1
1
1
1
, ] ,
Mt khi cc thng tin cn thit c thu thp, ta c th a ra c qu o
trnh vt cn, da vo thut ton 2. tnh ton c cc im, cn phi tnh
c bn knh R
C
v hng ca chu k gii hn (limit cycle) i theo. V tr (x
O
,
y
O
) a ra h (x,y) ca robot theo khung tham chiu ca vt cn. Vic nh ngha c
th khung ta tham chiu s cung cp mt cng c robot bit chnh xc vc n
phi lm. Thc t, du ca x
O
s gip robot phn bit hnh ng m n cn phi lm
(i theo qu o ht hay y). Trong qu o pha y, chu k gii hn (limit cycle)
s ly nhiu gi tr bn knh khc nhau m bo s trn tru ca qu o. Du ca
y
O
s gip xc nh ng hng trnh vt cn.Thc t, nu y
O
0, hng ca chu
k gii hn (limit cycle) s thun theo chiu kim ng h, v ngc li s l ngc
chiu kim ng h. S la chn ny cho php ti u di ca qu o ca robot
trong vic trnh n vt cn. Tuy nhin, vic chn hng ny phi c thc hin
trc khi b iu khin trnh vt cn c kch hot ti thi im (t-T).
Tuy nhin, vi thut ton trnh vt cn nh trn, i khi cc b iu khin
robot s b xung t khi robot ri v cc v tr khng tt nh by cc b hay vng
cht. khc phc cc li ny, ta a thm vo mt s lut iu khin b sung:
4.2.6/ Xc nh i tng tht s gy tr ngi trnh:
Trong nhng trng hp m cc vt cn giao nhau nh hnh 7:
Hnh 7. By cc b gia vt 1 v 2.
Nu ch p dng n thun thut ton 2; khi trnh vt th 1, robot s di chuyn
theo hng ngc chiu kim ng h, nhng trnh vt 2, robot phi di chuyn
theo chiu kim ng h, nh vy, robot b ri v by cc b gia 2 vt cn 1 v
2. Do vy, ta s b sung thm lut iu khin chn vt trnh, kt qu thu c:
Hnh 8. Qu o robot sau khi b sung lut iu khin
Di y l lu gii thut ca thut ton b sung cho b iu khin.
Begin
D
RO1
= D
RO2
Chn min (D
PROi
)
D
TO1
D
TO2
Chn min(D
TOi
)
Chn bt k
End
D
PRO1
D
PRO2
Yes
Yes
No
No
Yes
Gin 3. Gii thut chn vt trnh
V vy, vi tin thng tin lu tr ngn hn v cc hng ca vt cn, robot c
th thc hin d dng vic chuyn hng m vn trnh khng b ri vo nhng
trng hp khng mong mun nh by cc b hay vng cht v.v..
Bn cnh gii thut c a ra, thut ton 3, mt s cng trnh nghin cu v
limit cycle cng a ra bin php khc x l khi robot b ri vo by cc b nh
trng hp trn. Bin php m cc cng trnh s dng l to mt vt o ln hn
bao trm ln cc vt o cn li. Ngha l nu c 2 vt cn b chng lp ln nhau nh
trong hnh 7, th s to ra mt vng trn o vi bn knh ln bao trm c hai
vt cn, lc ny robot ch phi trnh vt cn ln .
Tuy nhin, bin php s l khng ti u nu vt cn c hnh dng di v
hp nh bc tng chng hn. Lc ny, phi to ra mt vng trn rt ln c th
bao trm c c bc tng, v r rng bn trong vn trn o khng phi ch
no cng l vt cn, v i khi trong nhng a hnh nh, vic to ra mt vng o
qu ln s lm cho robot khng th i n mc tiu. Mt khc, ta nhn thy rng
phng php ny t linh hot v cn ton b thng tin v tt c thng tin v ton b
cc vt cn nm chng ln nhau, m i khi mt vi vt cn trong s khng lm
nh hng lin ti vic di chuyn n mc tiu ca robot. Hnh di y minh ha
cho iu ny:
Hnh 9. Vt cn c dng ch U
Hiu qu ca thut ton 2, phn trnh vt cn, l loi b c s dao ng ca
qu o khi robot di chuyn men theo mp ca vt cn. Thut ton 2; phn tm R
C
,
gin 2; cho php gip robot khng b dao ng gia v tr c D
ROi
R
Ii
(dng
kch hot b iu khin trnh vt cn) vi v tr c D
ROi
R
Ii
(dng kch hot b
iu khin hng ti mc tiu).
Hnh 10. Qu o robot, a) c dao ng, b) khng b dao ng
4.3/ Thut ton limit cycle (vi ng o l ng ellipse):
Thut ton limit cycle ellipse c pht trin trn nn limit cycle c vng o l
ng trn; phn ln cc cng thc tnh ton v gii thut c k tha, tuy nhin
cch t vn v cch tip cn c i cht khc bit.
Nhim v vn l nh hng cho robot di chuyn n mc tiu nh trc
trong mt khng gian, mi trng khng bit trc. Vic ny phi c thc hin
ng thi vi vic trnh cc vt cn c nh hoc thay i vi cc kch thc v
hnh dng khc nhau.
Ta gi s rng robot c bao bc bi hnh tr trn, c bn knh R
R
, cn vt
cn c bao bc bi khi hp ellipse, v ng ellipse c cho bi cng thc:
2 2
( ) ( ) ( )( ) 1 (13) a x h b y k c x h y k + +
Hnh 11. Vng ellipse gii hn quanh vt cn
Vi:
h, k R, ta tm ellipse.
a R
+
, vi
1
A
a
l mt na di ca trc di ca ellipse.
b R
+
, vi
1
B
b
l mt na di ca trc ngn ca ellipse.
c R
+
, vi gc nh hng ca ellipse
0.5*arctan( / ( )) c b a
D
ROi
l khong cch nh nht ca robot vi vt cn i (hnh 11).
pht hin tn tai vt cn, trong trng hp ny, iu khin l tn ti t
nht mt im giao nhau gia ng thng (l) v vng o ellipse (ellipse of
influence).
Thc t, vic nh ngha nhn thy vt cn, mt vn o ellipse phi c
cc thuc tnh sau:
C cng tm (h,k) v gc nghing nh hnh ellipse bao quanh vt cn:
Gi tr ca trc di ellipse l 2A
lc
vi :
lc R
A A R Ma + +

Gi tr ca trc ngn ellipse l 2B
lc
vi :
lc R
B B R Ma + +
Vi Ma c xem l dung sai an ton, bao gm : an ton iu khin, s
chnh xc v.v..
Vic s dng vng nh hng l ellipse s tng qut, linh ng hn trong vic
bao xung quanh vt cn v ph hp vi nhiu hnh dng vt cn khc nhau. Mt v
d in hnh nht l ng ellipse bao xung quanh mt bc tng s ph hp hn
mt ng trn
Hnh 12. Minh ha limit cycle bao quanh mt bc tng, a) ng trn, b)
ellipse
4.3.1/ Cu trc iu khin ca limit cycle ellipse:
Cu trc ca b iu khin hon ton tng t vi phn limit cycle l ng
trn; tuy nhin cc b iu khin con c i cht khc bit.
4.3.2/ Thut ton : Phn cp chn la
Nhim v ging nh trn, phn phn cp chn la ca limit cycle ng trn;
tuy nhin iu kin chn la th khc
(l) v ellipse c im
chung
Trnh vt
cn
Chy ti
mc tiu
End
Begin
Yes
No
Gin 4. Thut ton phn cp chn la khi dng limit cycle ellipse
4.3.3/ Cc b iu khin c bn:
Ngoi tr b iu khin trnh vt cn, nhng phn cn li u ging phn
limit cycle vi vng o l ng trn.
4.3.4/ B iu khin trnh vt cn:
thc hin vic trnh cc chng ngi vt, robot cn theo chnh xc chu k
gii hn ca trng vector (limit-cycle vector fields). Cc trng vector ny c
chia lm 2 chiu khc nhau:
Qu o chuyn ng theo chiu kim ng h:
2 2
2 2
2 2
2 2
(1 )
(14)
(1 )
s s
s s s s s
lc lc
s s
s s s s s
lc lc
x y
x y x cx y
A B
x y
y x y cx y
A B
'
&
&
Qu o chuyn ng ngc chiu kim ng h:
2 2
2 2
2 2
2 2
(1 )
(15)
(1 )
s s
s s s s s
lc lc
s s
s s s s s
lc lc
x y
x y x cx y
A B
x y
y x y cx y
A B
'
&
&
Vi (x
s
, y
s
) l v tr tng i ca robot i vi tm ca ellipse. A
lc
, B
lc
mt
na di cc trc di v ngn ca ellipse (hnh 11). Nu c khc 0; th l gc ca
ellipse v
l hng s dng.
Nu ellipse c trc di 2A
lc
= 4, trc ngn 2B
lc
= 2; th ellipse l mt chu k
qu o, hay cn gi l mt chu k gii hn (limit cycle):
Hnh 13. Hnh dng kh dng limit cycle ellipse
a) chiu kim ng h, b) ngc chiu kim ng h
Cc qu o xut pht t im (x
s
, y
s
) theo khung tham chiu X, Y; bao gm
bn trong ellipse, di chuyn v pha ellipse. iu ny c th c chng minh ton
hc khi s dng hm Lyapunov :
2 2
1
( ) ( ) (16)
2
s s
V x x y +
o hm V(x) theo qu o ca h thng ta c:
( )
s s s s
V x x x y y +
&
& &
Sau mt vi php bin i, thay th, ta c:
2 2
2 2
( ) ( )(1 ) (17)
s s
s s
lc lc
x y
V x V x cx y
A B

&
o hm ( ) V x
&
s m nu
2 2
2 2
(1 ) 0
s s
s s
lc lc
x y
cx y
A B
<
, tng ng vi iu kin
u (x
s0
, y
s0
) bn ngoi hng vo trong ellipse, cng thc (13), v ( ) V x
&
s dng
nu iu kin u (x
s0
, y
s0
) bn trong hng ra bn ngoi. V hng s
cng ln
th vn tc hi t ca chu k gii hn v chu k qu o cng nhanh.
iu khin robot i theo cc qu o hnh ellipse ny, ta s dng lut iu
khin nh hng, hay mt da vo mt i lng gi l gc nh hng
d
. Cng
thc tnh i lng ny, cng nh lut iu khin nh hng c trnh by trong
cc cng thc t (7) ti (11) phn trn.
4.3.4.1/ Thut ton 5: gii thut n vt cn vi limit cycle ellipse:
Hnh 14. 4 vng xung quanh vt cn
Lu gii thut:
u vo cho thut ton : tt c thng tin lin quan n vt cn gn nht, gi tr
u ra ca thut ton : cc c tnh qu o ca limit cycle robot bm theo.

Begin
x
O
<= 0 c xc nh ti (t - )
Tip tc s dng
chiu c
End
no
yes
no
'
'
lc lc
lc lc
A A
B B

Tm chiu ca
limit cycle
Tm cc gi tr A
lc
,
B
lc
ca limit cycle
'
'
lc lc
lc lc
A A
B B

+
+
2 2 2 2
2 2 2 2
( ) (1 / ' / ' )
( ) (1 / ' / ' )
O lc lc
O lc lc
x sign y y x x A y B cxy
y sign y x y x A y B cxy
+
'
+
Qu o ht Qu o y
yes
Gin 5. Thut ton trnh vt cn dng limit cycle ellipse
Vi thut ton ny vic trnh n vt cn vi nhiu hnh dng khc nhau s linh
hot hn :
Hnh 15. Minh ha s dng limit cycle ellipse n vt cn
5/ Cu trc v ni dung d kin ca lun vn thc s:
1. Chng 1: Gii thiu
i. t vn .
ii. Nghin cu tng quan.
iii. Tm lc ni dung nghin cu.
iv. Tnh cp thit ca ti.
2. Chng 2 : Tng quan
i. Nhng cng trnh nghin cu trn th gii c lin quan.
ii. u im v khuyt im ca cc cng trnh ny.
iii. Nhng hng pht trin khc c th khai thc.
3. Chng 3 : C s l thuyt
i. Gii thiu limit cycle.
ii. L thuyt cho b iu khin n mc tiu.
iii. L thuyt cho b iu khin trnh vt cn.
iv. L thuyt cho b chn la ti u.
4. Chng 4 : Xy dng gii thut
i. Gii thut cho b iu khin tng qut.
ii. Gii thut ca b iu khin n mc tiu.
iii. Gii thut cho b iu khin trnh vt cn.
iv. Gii thut la chn, hoch nh cho qu o ti u.
5. Chng 5 : ng dng
i. Chng trnh tnh ton Matlab.
ii. M phng Matlab.
iii. Kt qu m phng.
iv. Kt qu thc nghim.
6. Chng 6 : Kt lun
i. Kt qu.
ii. Hng pht trin.
7. Ti liu tham kho.
6/ K hoch thc hin lun vn:
Thi gian d kin thc hin ti : 1 hc k (khong 4 thng)
STT Tn cng vic Thi gian Kt qu cn t Ghi ch
1 c ti liu 1 thng Nm tng quan v l
thuyt
2 Xy dng gii thut, vit
chng trnh
1 thng Hon thnh s b
chng trnh
Bo co
50%
3 Ci tin chng trnh 1 thng Hon thnh chng
trnh m phng
4 Xy dng m hnh v vit
bo co lun vn
1 thng Kim chng kt qu
thc nghim
Bo co
tt nghip
TI LIU THAM KHO
[1] A Mobile Robot Path Planning Using Genertic Algorithm in Static Enviroment
, Ismail AL-Taharwa, Alaa Sheta and Mohammed Al-Weshah, Al-Baqa Applied
University, Al-Salt, Jordan.
[2] Optimal Trajectory of a Mobile Robot by a Genetic Design Fuzzy Logic
Controller, Chokri REKIK, Mohammed JALLOULI and Nabil DERBEL,
University of Sfax.
[3] Optimal Path Planning for Mobile Robot Navigation, Gene Eu Jan, Ki Yin
Chang, and Ian Paberry, IEEE/ASME Transactions on mechatronics, vol 13, No 4,
August 2008.


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cng lun vn thc s GVHD : TS.

HUNH THI HONG

4.2.4/ iu khin i n mc tiu:

V tr ca mc tiu th khng thay i theo h quy chiu tuyt i, do :

, c a ra da vo cc cng thc (5), (6):

u ra ca thut ton : cc c tnh qu o ca limit cycle robot bm theo.

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