1

Phn 1: Tng quan

Khi nim c bn Cc gii thut c bn

Phn 2: Khng gian cu hnh

Khi nim Mt s v d

Phn 3: Cc gii thut Roadmap

Visibility Graph Voronoi Diagram Cell Decomposition

 Mt thut ng c s dng trong lnh vc robotics, nhm chi tit ha mt hnh ng thnh cc chuyn ng ri rc. t vn : Lm th no robot c th hnh ng nh ngi? oCung cp tri thc. Tri thc l g? Cc chuyn ng c th ca th ca robot t n mc tiu .

 Agent Tc nhn Percept Tri thc

Initial State Trng thi bt u

Goal State Trng thi mc tiu

Action Hnh ng
Environment Mi trng Plan library Th vin k hoch State Space Khng gian trng thi Plan Space Khng gian k hoch
5

 Mt hng gii quyt vn . To ra mt agent x l v thc thi hnh ng trong mi trng c th ca bi ton.
Agent c c quan cm gic cm nhn v cp nht tri thc t mi trng Quan trng nht : B lp k hoch tip nhn tri thc, x l v a ra nhng k hoch ph hp.

 Vn gi hng ha

Plan: Goal: Ly Block B => C t trn Bblock xung A=> v Ly block C => B trn t C bn. ln A

 Robot mua hng

V nhiu lnh vc ng dng khc: animation of digital characters ng dng trong phu thut Kho st a hnh nguy him
Kt lun: tc ng mnh m vo s pht trin ca nhiu lnh vc ng dng.

10

Xt agent l mt im trong khng gian

Cc gii thut lp l trnh c s: Bug algorithms (1 and 2)

11

c im
Gi nh: Robot c biu din l mt im trong khng gian Tri thc cc b v khng gian trng thi v ch n ton cc Agent c c quan cm gic v c quan phn ng T tng c bn: 1) Lun hng thng dn mc tiu 2) Men theo vt cn (theo hng tri hoc phi)
12

 Lun hng ti mc tiu - robot c kh nng c lng khong cch gia 2 im (x, y) C b phn cm bin Khng gian thc hp l
1) C nhiu vt cn trng mi trng xc nh 2) ng i hng thng t Start n Goal c th giao vi nhiu vt cn 3) Khng gian lm vic vic l tp ng W Br(x), r < Br(x) = { y(2) | d(x,y) < r }
13

Bug 0 algorithm

Lun hng n ch C b phn cm bin

K hiu: qstart and qgoal hit point : qHi leave point : qLi
Mt ng i t ngun n ch to bi mt dy cc cp nh hit/leave v gii hn 2 u bi 2 nh qstart v qgoal

14

Bug 0 algorithm

Lun hng n ch C b phn cm bin

1) i thng ti mc tiu

2) Men theo b mt vt cn khi gp chng ngi cho n khi c th xc nh li mc tiu

Gi nh robot lun men theo hng tri

3) If (n ch) Dng else Lp li bc 1.

15

 Bug0 l gii php ton vn? -> Khng! -> Trng hp suy bin?
Bug 0 algorithm 1) i thng ti mc tiu 2) Men theo b mt vt cn khi gp chng ngi cho n khi c th xc nh li mc tiu 3) If (n ch) Dng else Lp li bc 1.
16

 Tng thm vng nh lu tr Thm phc tp trong tnh ton

Lun hng n ch C b phn cm bin

Bug 1 algorithm 1) Hng thng n ch. Nu n ch -> Dng.

2) Nu gp vt cn, i 1 vng quanh n v ghi nhn li khong cch ti mi im di chuyn so vi mc tiu

3) Tr li im gn vi mc tiu nht v tip tc bc 1.
17

18

Trng hp khng tm c ng i n mc tiu

19

Khi to qL0= qstart , i = 1 while (true) repeat T qLi -1 : Hng thng n qgoal until n ch hoc gp vt cn ti im qHi If (n ch) Dng repeat Men theo b mt vt cn v ghi nhn li im qLi vi khong cch n ch gn nht until n c qgoal hoc quay v li qHi If (n ch) Dng Di chuyn n im qLi if ng hng ti qgoal vn cn gp vt cn Dng v thng bo li. else i=i+1; continue;
20

Bug 2 Algorithm

21

Bug 2 Algorithm
1) Hng thng n mc tiu theo ng m-line. * If (n ch) Dng. 2) Nu gp vt cn men theo b mt vt cn cho n khi gp li ng m-line. 3) Ri vt cn v di chuyn n mc tiu.

22

Khi to qL0= qstart , i = 1 repeat repeat T qLi -1 di chuyn chuyn dc theo ng m-line until n ch hoc gp vt cn ti im qHi if (n ch) exit repeat Men theo ng bin vt cn until n qgoal hoc tr li im qHi hoc n im x im giao vi ng m-line vi iu kin: x != qgoal v d(x, qgoal) < d(qHi, qgoal) v ng ti ch khng cn b cn tr. if n ch, exit else if quay li qHi, return failure else qLi = m; i=i+1; continue;
23

 Bug 2 vs. Bug1? Gii thut no tt hn?

24

Xt v d sau The Spiral

Bug 1

Bug 2

Bug 1 t ra hiu qu hn hn Bug 2 trong trng hp ny

25

Trng hp Bug 2 t ra hiu qu hn Bug 1

Goal

Bug 2

Bug 1

Start
26

 BUG 1 l mt gii thut vt cn

-> Xem xet tt c cc trng hp trc khi a ra la chn tip theo.

BUG 2 l gii thut tham lam

-> a ra la chn da trn kt qu tt nht u tin

Trong nhiu trng hp BUG 2 hiu qu hn BUG 1 Tuy nhin, BUG 1 an ton v ng tin cy hn.

phc tp:

Bug 1

Bug 2

27

Lm th no lu tr i tng robot phc tp di dng d liu?

28

Chng ta hy tm hiu s lc v khi nim khng gian cu hnh (Configuration Space)

29

 Mt khi nim quan trng trong lp l trnh chuyn ng o L mt c t ton vn v ta cc im trong h thng. V d: Mt robot c kh nng dch chuyn nhng khng th xoay trong mt phng o Biu din y v cu hnh ny? L khng gian tp hp ca tt c cc cu hnh Vi mi robot vt th rn (khng khp), lun tn ti mt php bin i robot v cc vt cn nh x robot v mt im trong khng gian. -> Php bin i C-Space (The C-Space Transform)
30

31

32

 Lm th no chuyn i khng gian cu hnh cho bi ton di chuyn mt i tng a gic vt qua khng gian tp cc vt cn cng l a gic??? u im ca php bin di trn ???
33

 A rotating bar fixed at a point o what is its C-space? o what is its workspace A rotating bar that translates along the rotation axis o what is its C-space? o what is its workspace A two-link manipulator o what is its C-space? o what is its workspace? o Suppose there are joint limits, does this change the C-space? o The workspace?
34

35

 Trong phm bi bi thuyt trnh ny chng ta s tip cn vi mt s gii thut tiu biu sau: th tm nhn (Visibility Graph) Lc Voronoi (Voronoi Diagrams)

Phn r (Cell Decomposition)

36

Xt khng gian cu hnh (Cspace) gm cc vt cn a gic.

qgoal

NHN XT:
Nu khng c vt cn, ng di ngn nht l m-line.

qstart
Liu c hin nhin???

Ngc li, chc chn phi tn ti mt dy lin tip cc on thng men theo b mt vt cn ni qstart v qgoal
37

 p dng cho khng

qgoal

gian gm cc vt cn a gic. Nt (Node) ca th tng ng vi nh ca a gic.

qstart

Cc node k nhau khi: - c ni bi mt cnh ca mt vt cn. - Hay on thng ni 2 node thuc v khng gian t do.
38

1. Xy dng cc on thng khng b chn ni cc nh a gic, nh u v nh qgoal cui 2. S dng thut ton tm kim trn th va xy dng tm ng i ngn nht.

qstart

Thut ton no hiu qu nht?

39

 th hin ti c qu nhiu cnh!

o Cc ng hng vo a gic lm o Cc ng m u vo vt cn

th gin lc s c dng sau: o Cc nh ca a gic li o Cc cnh tip xc vi a gic (Khng lao thng vo
cc i tng vt cn)

40

 Phng php th tm nhn tm c ng i ngn nht tng phng php: i dc theo ng bin men theo st i tng vt cn. Cc phng hng ci tin gii thut? Perhaps we want to get a non-stupid path that steers as far from the obstacles as it can.

41

Y B

Cho trc mt s im, mi im c mu sc khc nhau. Tp cc im cn li trong khng gian s c t theo quy lut sau:
Cc im ny s c cng mu vi im cho gn nht vi n.

-> Tp hp cc ng bin phn chia cc vng khc nhau l lc Voronoi (VORONOI DIAGRAM).
42

Xt v d sau:

43

Lc Voronoi tng qut (GVD)

44

1. Xc nh lc Voronoi cho khng gian cu hnh 2. Tnh ton on ng ngn nht t nh ngun nh bt k trn th. 3. Tnh ton on ng ngn nht t nh ch n nh bt k trn th. 4. Xc nh ng i ti u t nh ngun n ch dc theo lc Voronoi

45

Exact Cell vs. Approximate Cell

46

 Chia khng gian t do thnh tp cc a gic li chnh xc

47

Polygonal Configuration Space

qfinal qinit

48

Polygonal Configuration Space

qfinal qinit

49

Polygonal Configuration Space

qfinal qinit

50

Generalization to 3 Dimensions

51

 th lin k (Adjacency Graph)

Mi nt ca th tng ng vi mt cell Cnh ca th ni cc cell (node) k nhau.
2 cell gi l k nhau nu chng c chung ng bin

52

Lp l trnh (Path Planning)

Lp l trnh theo 2 bc: Xc nh cc (cell) cha nh ngun (start) v nh ch (goal)
Tm ng i trn th lin k xy dng

53

 Trapezoidal Decomposition
o relies heavily on the polygonal representation of the planar configuration space

Morse Cell Decomposition

o allow for representations of nonpolygonal and nonplanar spaces.

Visibility-based Decomposition

54

. . . .

. .

. . . . S .

.
. . . .

.
. . . . . . . . . .
.

. .

Thit lp khung li (tp cc vung) Loi b cc giao vi cc vt cn. Xc inh ng i ngn nht qua cc cn li (VD: dng A*) Nu khng tn ti ng i, Tng phn r v lp li qu trnh tm kim
55

 Nhc im:

Khng chnh xc (Khng c khi nim ng i ti u) Khn ton vn: Khng m bo vn s c gii quyt. Khng chnh xc khi p dng trn khng gian t chiu.

Tuy nhin, phng php ny thc s c p dng trong cc h thng thc t.

56

Ti liu tham kho:

Principles of Robot Motion Theory, Algorithms, and Implementations - by Howie Choset Motion.ppt Ti liu ca Thy Bc

57

for your attention

58