Thuật toán tránh vật cản cho rôbôt tự hành trong bài toán dẫn đường cục bộ trên cơ sở điều khiển mờ

THUAT TOAN TRANH VAT CAN CHO ROBOT TlT HANH TRONG BAI TOAN DAN DUOTNG CUC BO TREN CO SOf DIEU KHIEN MO Phan Qudc Thdng, Ngo Vdn Chung,Biii Manh Dung Hoc vien Ky thugt Qudn sir Tdm td

THUAT TOAN TRANH VAT CAN CHO ROBOT TlT HANH

TRONG BAI TOAN DAN DUOTNG CUC BO TREN CO SOf DIEU KHIEN

MO

Phan Qudc Thdng, Ngo Vdn Chung,Biii Manh Dung

Hoc vien Ky thugt Qudn sir

Tdm tdt:

Bdi bdo trinh bdy gidi phdp ddn duong cue bg cho robot tic hdnh dua trin ca sa logic ma ket hgp vai cdc bg cdm hicn sieu dm, bg thu tin hiiu vi tinh GPS gdn trin robot Bdi bdo cung giai thieu mgt so ket qud dgt diigfc ciia nhdm di tdi trong thuc ti xd\ dimg hi thong robot tu hdnh, to chiec chuang trinh xir ly die lieu vd dieu khiin, ciing cdc ket qud thir nghiem tren thirc dia trdnh vdt cdn dica tren phirang phdp diiu khiin dirge neu

Abstract:

This paper presents a solution of local guiding for self moving robot on the base of

ultrasound sensors, data information from Global Positioning System GPS equipped

on the robot This paper also introduces results in building in practice a self-moving

robot, organizing program processing data, and test robot on the field to avoid roadblock based on the mentioned method

I DAT VAN DE

Bdi tdan xay dimg robot tu hdnh cd kha nang nhan biet va tu ddng trdnh cdc vat cdn luon thu hut su quan tam cua gidi khoa hgc Da cd khdng ft nhirng cdng trinh nghien ciiu giai quyet van de ndy dua tren cdc ly thuyet dieu khien truyen thdng Mac dii vay, trong thai gian gan day, ciing vdi sir phdt trien cua ky thuat cdng nghf, da xuat hifn cdc thiet bj hifn dai, cdc bo vi dieu khien rat manh cimg cdc bd cdm bien tien tien cho phep xay dung dugc cdc thuat toan thdng minh hon trong dieu khien cdc robot tu hdnh trdnh vat can

Tir thuc te do, nhdm tdc gid de xuat thuat todn trdnh vat can cho robot tu hdnh trong bai todn dan dudng cue bd sii dung logic md ket hgp vdi cdc dau dd sieu am, cdc bd thu thong tin

vf tin GPS vd la bdn difn tir

Rieng bai todn dan dudng toan cue dieu khien robot tu hdnh trinh den diem dfch dinh trudc dugc trinh bay trong mdt bdi bdo rieng

IL G I 6 I THIEU BAI TOAN VA MO HINH NGHIEN ClTU

Cd hai ldp bai todn dieu khien robot tu hanh la bai todn todn cue vd bdi todn todn cue 0

bai todn todn cue, ban dd dudng di ciia robot co ban da dugc xdc djnh trudc Khi do, van de

dat ra Id can xa^ dung hf thdng dieu khien de dan dudng robot tu hanh di dugc din dilm dfch

da xdc djnh Doi vdi bdi todn cue bg, mdi trudng lam vifc cua robot khdng bilt trudc hdacchi

biet dugc mdt phan Khi do, robot cin tu nhan bilt mdi trudng thdng qua hf thdng cdc cam

bien trang bj tren robot Bai todn dan dudng cue

bg Id nhdm dieu khien robot trdnh dugc cdc vat can ngau nhien hay bat ngd tren dudng di chuyen cua robot

Medium Len

Md hinh nghien ciiii

Mi,ic tieu cua de tdi la xay dung robot vugt dja hinh, vi vay md hinh nghien cuu dirge xay dung cd cau tao de robot cd kha nang di chuyen tren dja hinh tuong doi go ghe Thiet ke robot dugc thvrc hien gom: Banh dai xfch, Dgng co truyen dgng bdng xfch, Bf mdy vd he truyen dong De truyen ddng cho banh xe can cd hai ddng co cdng suat du Idn de dilu khiln hai banh xfch trdi vaphdi

Cdc cam bien dugc trang bj tren robot bao gdm:

1 01 bd thu tfn hifu ve tinh GPS eXplorist 500, dugc ddt cao ban thdn xe mgt chut, va d

chfnh giira than robot, dk cho bilt thdn^ tin vl vj trf cua robot

2 01 la ban difn tir CMPS03 cho biet gdc

Ifch ciia dudng di so vdi hudng Bdc dugc r,, ,

dat chi'nh giira tren ddu xe, trdnh xa tii da

hai dgng co phfa sau de giam nhilu toi da

3 03 cam bien sieu am SRF05 vdi tim phdt

hifn tu 1cm 4m dugc dat phfa trudc robot

de nhan biet vat can phfa trudc

SC DVNG LOGIC M 6

De robot cd khd ndng trdnh vat can xuat

hifn tren dudng, tren robot bd tri 3 cam bien

sieu am nhu hinh 2

Thuc hien m& mat hoa cdc dai lurang:

Cdc gid trj khoang cdch trd ve cua 3 cam bien sieu am (0-40bcm) Id 3 biln dau vao (Left, Ahead, Right) ciia bd dieu khien md vd dugc md hda thdnh: {Near, Medium, Far}

ti^A

Hinh 2 B6 tri cam bien sieu am tren robot

MniWe-Alwid-.1

Hinh 3: Md hoa gia tri khoang each ciia cam Men Trong trudng hgp cd cam biln khdng thu dugc tfn hifu d dau vdo (khdng cd vat cdn phfa

trudc cam biln dd), khi do, ta gid thilt la dang cd vat can d khoang cdch xa ngodi 4m Gia

thilt nhu vay nhdm dan gian qud trinh xir ly ma khdng dnh hudng din khd ndng trdnh vat can ciia robot

Bk thuc hifn trdnh vat cdn, cd thi md hda cdc gid trj cdng suit ciia ddng co thanh 5 tap

md (Lui nhanh (LN); Lui cham (LC); Dimg (D); Tiln cham (TC); Tiln nhanh (TN)}

Ludt md

Ngay khi mot liong 3 cam bien

sieu am phiil hicn vat can, robot se

chuyen tu' bui toan bam dudng sung bai

toiin tranh vat can De xuc dinh phirang

an tranh vat can tii uu phai duu vuo 2

ylu tl: bien dang cuu vat can (dugc md

hinh hoa duu vuo thong tin id 3 cam

bien sieu um); vu hirdng lech hien tai

cuu robot so vdi dfch den (duu vuo

GPS va la ban sl)

Trong tmdng hgp bien dang ciia

vat can khdng doi xirng, robot se tranh vl ben ma bien cua vat can d xa hon (di ve ben ft bj can hon) Trong cdc tinh huong d hinh

5, robot chgn phuong an tranh vl phfa ben trdi vi ben do ft bi can ban

.4y ' 1 :'

output y»ri«6te CCTrar

Hinh 4: Md hoa dap liiig cua dfng co"

Hinh 5: Mot so tinh huong tieu bieu trudng hgp vat can co bien khdng doi xirng

Trudng hgp bien vat can ddi ximg, robot se sir dung them thdng tin tir GPS va la ban so

de quyet djnh xem nen trdnh ve ben trdi hay ben phdi cua vat can Dua vao thiet bj GPS, co the xdc djnh dugc vj tri hien tai cua robot, cimg vdi vj tri dfch den ciia robot (cho trudc) thi se tfnh dugc hudng di mong muon cua robot so vdi phuang Bac La ban difn tir cho biet hudng lech hien tai ciia robot so vdi phuang Bdc tir (trong bai toan nay su sai Ifch giua phuang Bac dja ly va phuang Bdc tir la nhd va bd qua dugc) Tir nhung thdng tin dd, hdan todn xdc djnh dugc dfch den nam d ben phdi hay ben trdi so vdi budng hien tai ciia robot va chgn dd lam ben uu tien de robot trdnh ve ben dd cua vat can

de dam bao rolbot cd the phan irng vdi mgi tinh huong (ke ca vdi cac vat can di dgng) thi can xay dung day dii 36 luat md

Vf du luat md trong tiirdng hgp bien vat can doi xu'ng (khoang each den vat can d 2 ben deu la Far, khi do tuy vao phfa uu tien la right hay left ma chgn ben tranh cho robot):

If (Left is Far) and (Ahead is Fur) und (Right is Far) and (uutien is right) then (DCTrai is TN) and (DCPhai is TC)

If (Left is Far) and (Ahead is Far) and (Right is Far) and (uutien is left) then (DCTrai is TC) and (DCPhai is TN)

Vf du luat md trong trudng hgp bien vat can la khdng doi xirng (ben trai la Far va ben phai la Medium), khi dd ta khdng can quan tam den ben uu tien ma se cho robot tranh ve ben

ft bj can ban la ben trai :

If (Left is Far) and (Ahead is Far) and (Right is Medium) then (DCTrai is TC) and (DCPhai isTN)

Trong 2 vf du tren, do khoang cdch den vat can cdn xa nen robot chi can chinh hudng khong nhieu bang cdch giam tdc do cua mgt ben dgng co Cdn trong cac tmdng hgp vat can d gan robot cd the phai be lai Idn hom tham chf liii lai neu vat can d qud gan

Hgp thdnh vd gidi ma

400

l.ert

Hinh 7 : Moi quan he giira bien Left, Ahead Hinh 8 : Moi quan he giira bien Left, Ahead

va dong cor trai va dong cff phai

\i-':.' J f^'i': ••'^'- " • '' ^ ^

RiCN

Hinh 9: M6i quan he giua bien Right, Hinh 10: Moi quan he giua bien Right,

Left va done ca trai Left va done co" phai

9:

Sir dung luat hgp thdnh max-min vd gidi md bdng phuang phdp diem trgng tam

Mdi quan hf giii-a cdc biln vdo ra dugc md phdng tren Matlab nhu gidi thieu tren hinh

7-IV TO CHlTC HE THONG DIEU KHIEN

So dd khdi t l chirc hf dilu khiln cua robot vd sa dd gidi thuat dilu khien:

La bhn s6 CMPS03

May thu GPS

Cdc cum bien

w

Modul thu phdt khdng ddy

Khii xirly trung tam

vi dilu khi^n (vi dieu khien LPC

2294)

1 f

Match cdng sudt di^u khiln d$ng ca DC

Hinh

r End )

11 To chirc phan cung, phan mem hf thong dieu khien robot

Mdt so module chirorng trinh dieu khien

Modul xdc djnh tga do cua robot:

int tinh_kinli_do(void)

{

char toado[5];

int ij;

i=0;

while (buf_kinhdo[i] !='.') i++;

i++;

for(j=0;j<=2;j-H-) {

toadolj] = buf_kinhdo[i];

i++;

}

i = atoi(toado);

j = strien(buf_kinhdo) - 2;

int tinh_vi_do(void) {

char toado[S];

int i j ; i=0;

while (buf_vido[i] !='.') i-H-; i-H-;

for(j=0;j<=2;j-H-)

{

}

toadolj] = buf_vido[i]; i++;

i = atoi(toado);

j = strlen(buf_vido) - 2;

inlNear (signed intS d ) inl Far (sisned intS d )

I ( if{d<=5()) retumdOO); il (d<=25()) relurn(());

if((d>50)&&(d<15())) reuim((ini)(15()-(noat)d)): ir((d>25())&&(d<35())) retum((ini)((nout)d-250)); if(d>=150) i-eturnCO); if(d>=350) returndOO);

) } int Medium (signed intS d)

I

if(d<=50) return(O);

if ((d>50)&&(d<=150)) return ((int)((tloat)d-5()));

if ((d> 150)&&(d<250)) return (100);

if ((d>=250)&&(d<350)) return ((int)(350-(float)d));

if(d>=350) return(O);

}

V THU" NGHIEM THl/C TE VA MQT S 6 KET QUA

Nhdm de tai da tien hanh thOr nghifm boat ddng cua robot tren san van dgng Cho robot thuc hien nhifm vu tien den dfch djnh tmdc, tren dudng bd trf sdn cdc tinh huong vat can khac nhau

f * y y

Ket gud thu dugc rat kha quan Trong cdc lan thir nghifm robot deu tranh dugc vat cdn va sau dd tiep tuc hanh trinh tien tdi muc tieu Tmdng hgp vat can cd hinh khdi vdi kfch thudc

Idn, hodc cd hai vat can xep lien tiep, robot deu cd the trdnh dugc va sau do di tiep den dfch

Qud trinh chuyen trang thdi dieu khien tu trdnh vat can sang bam muc tieu xay ra khd mem va

em, khdng cd su thay ddi dot ngdt ve hudng hay tdc do cua robot > Tmdng hgp vat can di dgng, robot chi tranh dugc vdi dieu kifn vat can dugc phat hifn d khodng cdch khdng qua gan vd di chuyen vdi tdc do cham Neu vat cdn di chuyen nhanh hay dugc phdt hifn d khoang cdch gud gdn thi robot khdng the phdn ling kjp

Cd the khdc phuc tinh hudng tren bdng each tdng sd tap md trong qud trinh md hda dau vao tir 3 tap (Far, Medium, Near) len 5 hodc 7 tap de tdng khd ndng phan loai cdc tinh hudng vat can va kha ndng kiem sodt viing khdng gian phfa tmdc ciia robot Nhung nhu vay, bd dieu khien md se phirc tap len rat nhieu lam tdng gdnh ndng xii ly vd cd the dnh hudng tdi kha ndng phdn iing nhanh ciia robot

VI KET LUAN

Vdi bdi todn dan dudng cue bd trdnh vat cdn, mdt sd ket qud dat dugc nhu sau:

- Tren co sd ung dung ly thuyet logic md, de tdi da xay dung thuat tdan dan dudng cue

bg dieu khien robot tu hanh trdnh cdc vat can hifu gud tdt

Xay dung robot tu hdnh vugt dja hinh va tien hdnh thii nghifm tren thuc dja Ket qua thu dugc la rat khd quan Cdc lan thu deu cho ket qua robot ludn tu ddng trdnh dugc vat cdn

de den dugc muc tieu djnh tmdc

Tmdng hgp vat can cd do phiirc tap Idn hoac vat can di chuyen vdi van tdc nao dd, de tai can dugc tiep tuc nghien ciiru, hoan thif n

TAI LIEU THAM KHAO

[1] Pham Xuan Minh, Nguyin Doan Phudc

Ly thuylt dilu khiln md NXBKH&KT 2006

[2] Nguyen Thuang Ngd Ly thuylt dilu khiln tu ddng thdng thudng vd hifn dai NXBKH&KT 2005

[3} Passino K.M & S Yurkovich, Fuzzy Control, Addison Wesley, 1998

[4J Tdi lieu ciia hang NXP.com va Cdc trang web ve Fuzzy logic