This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefi...This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefits of the original real-time technical vision system(TVS)based on a dynamic triangulation principle.The method uses TVS output data with fuzzy logic rules processing for resolution stabilization.Based on previous researches,the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group.According to the comparative analysis of approximation methods,in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory.The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.展开更多
The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission...The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission and communication the knowledge base using remote connection to the control object considered.Transmission and communication of the fuzzy controller’s knowledge bases implemented through the remote connection with the control object in the online mode apply the Bluetooth or WiFi technologies.Remote transmission of knowledge bases allows designing many different built-in intelligent controllers to implement a variety of control strategies under conditions of uncertainty and risk.As examples,two different models of robots described(mobile manipulator and(“cart-pole”system)inverted pendulum).A comparison of the control quality between fuzzy controllers and quantum fuzzy controller in various control modes is presented.The ability to connect and work with a physical model of control object without using than mathematical model demonstrated.The implemented technology of knowledge base design sharing in a swarm of intelligent robots with quantum controllers.It allows to achieve the goal of control and to gain additional knowledge by creating a new quantum hidden information source based on the synergetic effect of combining knowledge.Development and implementation of intelligent robust controller’s prototype for the intelligent quantum control system of mega-science project NICA(at the first stage for the cooling system of superconducted magnets)is discussed.The results of the experiments demonstrate the possibility of the ensured achievement of the control goal of a group of robots using soft/quantum computing technologies in the design of knowledge bases of smart fuzzy controllers in quantum intelligent control systems.The developed software toolkit allows to design and setup complex ill-defined and weakly formalized technical systems on line.展开更多
针对群组机器人系统在应急场景下移动频繁、能量有限的特点,提出了一种基于能量与速度的分簇自组织按需距离矢量协议(Clustered Ad hoc On-Demand Distance Vector Protocol Based on Energy and Speed,ESC-AODV),以延长群组机器人网络...针对群组机器人系统在应急场景下移动频繁、能量有限的特点,提出了一种基于能量与速度的分簇自组织按需距离矢量协议(Clustered Ad hoc On-Demand Distance Vector Protocol Based on Energy and Speed,ESC-AODV),以延长群组机器人网络运行时间,提高通信可靠性。用路由性能代替跳数作为路由判据,目的节点在重复接收到路由请求(Route Request,RREQ)数据包时,若路由性能更小,则回复路由应答(Routing Reply,RREP)数据包,以此选择更好的路由,引入分簇结构,通过簇头和网关组成的骨干网络减少广播洪泛次数。实验结果证明,节点数量多时,改进的ESC-AODV协议在延长网络生存时间的同时,平均端到端时延、数据包投递率、吞吐量和路由开销均优于AODV以及基于能量、负载和速度的AODV路由协议(AODV Routing Protocol Based on Energy,Load and Speed,ELS-AODV)。ESC-AODV协议能够节约网络能量,提高可靠性,获得更优的网络性能。展开更多
文摘This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefits of the original real-time technical vision system(TVS)based on a dynamic triangulation principle.The method uses TVS output data with fuzzy logic rules processing for resolution stabilization.Based on previous researches,the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group.According to the comparative analysis of approximation methods,in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory.The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.
文摘The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission and communication the knowledge base using remote connection to the control object considered.Transmission and communication of the fuzzy controller’s knowledge bases implemented through the remote connection with the control object in the online mode apply the Bluetooth or WiFi technologies.Remote transmission of knowledge bases allows designing many different built-in intelligent controllers to implement a variety of control strategies under conditions of uncertainty and risk.As examples,two different models of robots described(mobile manipulator and(“cart-pole”system)inverted pendulum).A comparison of the control quality between fuzzy controllers and quantum fuzzy controller in various control modes is presented.The ability to connect and work with a physical model of control object without using than mathematical model demonstrated.The implemented technology of knowledge base design sharing in a swarm of intelligent robots with quantum controllers.It allows to achieve the goal of control and to gain additional knowledge by creating a new quantum hidden information source based on the synergetic effect of combining knowledge.Development and implementation of intelligent robust controller’s prototype for the intelligent quantum control system of mega-science project NICA(at the first stage for the cooling system of superconducted magnets)is discussed.The results of the experiments demonstrate the possibility of the ensured achievement of the control goal of a group of robots using soft/quantum computing technologies in the design of knowledge bases of smart fuzzy controllers in quantum intelligent control systems.The developed software toolkit allows to design and setup complex ill-defined and weakly formalized technical systems on line.
文摘针对群组机器人系统在应急场景下移动频繁、能量有限的特点,提出了一种基于能量与速度的分簇自组织按需距离矢量协议(Clustered Ad hoc On-Demand Distance Vector Protocol Based on Energy and Speed,ESC-AODV),以延长群组机器人网络运行时间,提高通信可靠性。用路由性能代替跳数作为路由判据,目的节点在重复接收到路由请求(Route Request,RREQ)数据包时,若路由性能更小,则回复路由应答(Routing Reply,RREP)数据包,以此选择更好的路由,引入分簇结构,通过簇头和网关组成的骨干网络减少广播洪泛次数。实验结果证明,节点数量多时,改进的ESC-AODV协议在延长网络生存时间的同时,平均端到端时延、数据包投递率、吞吐量和路由开销均优于AODV以及基于能量、负载和速度的AODV路由协议(AODV Routing Protocol Based on Energy,Load and Speed,ELS-AODV)。ESC-AODV协议能够节约网络能量,提高可靠性,获得更优的网络性能。
