ROBOWORKS Robofleet MULTI-Agent ALGORITHMS Manual mai amfani

Kashi na farko ya shafi gabatar da hanyoyin samar da robot da yawa;
Kashi na biyu ya yi bayani ne akan saitunan sadarwa na ROS da yawa, gami da gina hanyoyin sadarwa na ROS da kuma matsalolin da za a iya fuskanta a cikin tsarin sadarwar ROS;

Kashi na uku ya fi bayyana matakan aiki na aiki tare na lokaci mai yawa na injina;
Kashi na hudu yana bayyana takamaiman amfani da kunshin aikin samar da na'urori da yawa.

Manufar wannan daftarin aiki shine gabatarwa ga tsarin mutum-mutumi na wakilai da yawa kuma yana bawa masu amfani damar fara aikin samar da robot da yawa cikin sauri.

GABATARWA ZUWA GA ALGORITHMS MULTI-Agent

Algorithms samuwar wakili da yawa

Wannan fakitin ROS yana gabatar da matsala ta al'ada na wakilai da yawa a cikin sarrafa haɗin gwiwa yayin tuƙi na ƙirƙira. Wannan koyawa tana kafa tushe don ci gaban gaba akan wannan batu. Algorithm ɗin sarrafa ƙirƙira yana nufin algorithm wanda ke sarrafa wakilai da yawa don samar da takamaiman tsari don yin ɗawainiya. Haɗin kai yana nufin haɗin kai tsakanin wakilai da yawa ta amfani da wata ƙaƙƙarfar dangantaka don kammala ɗawainiya. Ɗauki tuƙi ɗin ƙirar mutum-mutumi da yawa azaman tsohonample, haɗin gwiwa yana nufin cewa mutum-mutumi da yawa suna samar da tsarin da ake so tare. Asalinsa ƙayyadaddun alaƙar lissafi ce wacce ta gamsu tsakanin matsayin kowane mutum-mutumi. Hanyoyi na ƙirƙira sun kasu kashi-kashi zuwa kulawar ƙirƙira ta tsakiya da rarrabawar sarrafawa. Hanyoyin sarrafa ƙira na tsakiya sun haɗa da tsarin tsarin kama-da-wane, hanyar ka'idar hoto, da hanyar tsinkayar ƙira. Hanyoyin sarrafa samuwar da aka rarraba galibi sun haɗa da hanyar jagora-mabiya, hanyar tushen ɗabi'a, da hanyar tsari mai kama-da-wane.
Wannan fakitin ROS yana amfani da hanyar jagora-mabiya a cikin hanyar sarrafa tsari da aka rarraba don aiwatar da faifan ƙirar robot da yawa. An naɗa mutum-mutumi guda ɗaya a matsayin jagora, kuma an naɗa sauran mutum-mutumin a matsayin bayi da za su bi jagora. Algorithm yana amfani da yanayin motsi na babban mutum-mutumi don saita daidaitawa don bin diddigin mutum-mutumi masu zuwa tare da takamaiman jagora da sauri. Ta hanyar gyara karkacewar matsayi daga mahaɗar bin diddigin, a ƙarshe masu bi za su rage karkatar da ke tsakanin mabiyi da waɗanda ake sa ran bin diddigi zuwa sifili don cimma manufofin ƙirar ƙirƙira. Ta wannan hanyar, algorithm yana da ƙarancin rikitarwa.

Algorithms guje wa cikas

Algorithm na guje wa cikas na gama-gari ita ce hanyar fage ta fasaha. Ana ɗaukar motsi na mutum-mutumi a cikin yanayi na zahiri a matsayin motsi a cikin fage mai ƙarfi na fasaha. LiDAR ne ya gano cikas mafi kusa. Wannan cikas yana ba da filin ƙarfi mai banƙyama don haifar da ƙin mutum-mutumi kuma wurin da aka nufa yana samar da filin nauyi don samar da ƙarfin nauyi ga mutum-mutumi. Ta wannan hanyar, yana sarrafa motsi na mutum-mutumi a ƙarƙashin aikin haɗin gwiwa na ƙin yarda da jan hankali.
Wannan fakitin ROS haɓakawa ne dangane da yuwuwar filin filin. Da fari dai, ƙirƙira algorithm yana ƙididdige mizani da saurin kusurwa na mai bin Bayi. Sannan yana ƙaruwa ko rage saurin mizani da kusurwa gwargwadon buƙatun gujewa cikas. Lokacin da tazara tsakanin mabiyin Bawa da cikas ta kusa, karfin tunkudewa mabiyin Bawa ya fi girma. A halin yanzu, canjin saurin mizani da bambance-bambancen saurin kusurwa sun fi girma. Lokacin da cikas ya kusa kusa da gaban mabiyin Bawa, tunkuɗewar abin da ke kawo cikas ga mabiyin Bawa ya zama mafi girma (cikar gaba ita ce mafi girma, turewar gefe kuma ita ce mafi ƙanƙanta). A sakamakon haka, bambance-bambancen saurin madaidaiciya da saurin kusurwa sun fi girma. Ta hanyar yuwuwar filin filin, yana inganta mafita lokacin da mutum-mutumi zai iya daina amsawa a gaban wani cikas. Wannan yana aiki da manufar mafi kyawun kauce wa cikas.

SABBIN SADARWA MAI GIRMA

Sadarwar wakilai da yawa yana ɗaya daga cikin mahimman matakai don kammala ƙirƙirar nau'ikan robots. Lokacin da ba a san matsayin dangi na mutum-mutumi da yawa ba, robots suna buƙatar raba bayanan juna ta hanyar sadarwa don sauƙaƙe kafa haɗin gwiwa. Gine-ginen da aka rarraba ROS da sadarwar cibiyar sadarwa suna da ƙarfi sosai. Ba wai kawai dacewa don sadarwa tsakanin tsari ba har ma don sadarwa tsakanin na'urori daban-daban. Ta hanyar sadarwar cibiyar sadarwa, duk nodes na iya aiki akan kowace kwamfuta. Babban ayyuka kamar sarrafa bayanai an kammala su a gefen mai masaukin baki. Injin bayi suna da alhakin karɓar bayanan muhalli da na'urori daban-daban suka tattara. Mai watsa shiri a nan shine manajan da ke gudanar da kullin Jagora a cikin ROS. Tsarin sadarwa na wakilai da yawa na yanzu shine ta hanyar mai sarrafa kumburi da mai sarrafa siga don sarrafa sadarwa tsakanin mutummutumi da yawa.

Matakan kafa hanyoyin sadarwa na wakilai da yawa

Saita ROS Controls a cikin wannan cibiyar sadarwa
- Akwai hanyoyi guda 2 na kafa Jagora/Bawan ROS Controls a ƙarƙashin wannan hanyar sadarwa.

Zabin 1:

Babban Mai watsa shiri yana ƙirƙira wifi na gida ta hanyar gudanar da Manajan node na Jagora. Gabaɗaya, ɗayan mutum-mutumin da aka naɗa a matsayin maigida ya ƙirƙiri wannan hanyar sadarwa ta wifi. Wasu mutum-mutumi ko injunan kama-da-wane suna shiga wannan hanyar sadarwar wifi a matsayin bayi.

Zabuka 2:

Na'ura mai ba da hanya tsakanin hanyoyin sadarwa ce ta samar da hanyar sadarwa ta gida ta wifi a matsayin cibiyar watsa bayanai. Ana haɗa duk robots zuwa na'ura mai ba da hanya tsakanin hanyoyin sadarwa iri ɗaya. Hakanan ana iya amfani da na'ura mai ba da hanya tsakanin hanyoyin sadarwa ba tare da haɗin intanet ba. Zaɓi ɗayan mutum-mutumin a matsayin maigida kuma gudanar da manajan kumburin Jagora. Sauran robots an sanya su a matsayin bayi kuma suna gudanar da babban manajan kumburi daga maigidan.
Shawarar akan wane zaɓi zaɓi ya dogara da bukatun aikin ku. Idan adadin mutum-mutumin da ke buƙatar sadarwa ba ya da yawa, ana ba da shawarar Zaɓin 1 tunda yana adana farashi kuma yana da sauƙin saitawa. Lokacin da adadin mutum-mutumi ya yi yawa, ana ba da shawarar zaɓi na 2. Ƙuntataccen ikon sarrafa kwamfuta na ROS master control da iyakacin wifi wifi a kan jirgi na iya haifar da jinkiri da rushewar hanyar sadarwa cikin sauƙi. Na'ura mai ba da hanya tsakanin hanyoyin sadarwa na iya magance waɗannan matsalolin cikin sauƙi. Lura cewa lokacin aiwatar da sadarwar wakilai da yawa, idan ana amfani da injin kama-da-wane azaman bawa ROS, yanayin cibiyar sadarwar sa yana buƙatar saita yanayin gada.

Sanya masu canjin yanayi na Master/Bawa

Bayan duk masanan ROS duk suna cikin hanyar sadarwa iri ɗaya, ana buƙatar saita masu canjin yanayi don sadarwar wakilai da yawa. An saita wannan canjin yanayi a cikin fayil ɗin .bashrc a cikin babban kundin adireshi. Gudun gedit ~/.bashrc don ƙaddamar da shi. Lura cewa duka fayilolin .bashrc na maigida da na bawa a cikin sadarwar wakilai da yawa suna buƙatar daidaita su. Abin da ake buƙatar canzawa shine adiresoshin IP a ƙarshen fayil ɗin. Layukan biyu sune ROS_MASTER_URI da ROS_HOSTNAME, kamar yadda aka nuna a hoto 2-1-4. ROS_MASTER_URI da ROS_HOSTNAME na mai masaukin baki ROS duka IPs ne na gida. ROS_MASTER_URI a cikin ROS bawan .bashrc fayil yana buƙatar canza zuwa adireshin IP na mai watsa shiri yayin da ROS_HOSTNAME ya kasance a matsayin adireshin IP na gida.

Sadarwar injuna da yawa ROS baya takurawa sigar sakin ROS. A cikin tsarin sadarwa na injina da yawa, ya kamata mutum ya san abubuwa masu zuwa:

Ayyukan shirin bawa na ROS ya dogara ne akan tsarin ROS master na'urar na'urar ROS. Dole ne babban shirin ROS ya fara farawa akan na'ura mai mahimmanci kafin aiwatar da shirin bawa akan na'urar bawa.
Adireshin IP na master da injin bayi a cikin sadarwa na injina da yawa suna buƙatar kasancewa cikin hanyar sadarwa iri ɗaya. Wannan yana nufin adireshin IP da abin rufe fuska na subnet suna ƙarƙashin cibiyar sadarwa iri ɗaya.
ROS_HOSTNAME a cikin fayil ɗin saitin mahalli .bashrc ba a ba da shawarar yin amfani da localhost ba. Ana ba da shawarar yin amfani da takamaiman adireshin IP.
A cikin yanayin cewa ba a saita adireshin IP ɗin bawa daidai ba, na'urar bawa har yanzu tana iya samun dama ga maigidan ROS amma ba zai iya shigar da bayanan sarrafawa ba.
Idan injin kama-da-wane yana shiga cikin sadarwar wakilai da yawa, yanayin cibiyar sadarwar sa yana buƙatar saita yanayin gada. Ba za a iya zaɓar IP na tsaye don haɗin cibiyar sadarwa ba.
Sadarwar injina da yawa ba za ta iya ba view ko biyan kuɗi zuwa jigogi na nau'in bayanan saƙo waɗanda ba su cikin gida.
Kuna iya amfani da ƙaramin wasan kwaikwayo na Kunkuru don tabbatar da ko sadarwa tsakanin mutummutumi ta yi nasara:
- a. Gudu daga maigidan
  - sake dawowa #kaddamar da ayyukan ROS
  - rostrum kunkuru turtlesim_node #launch kunkuru
- b. Gudu daga bawa
  - rerun kunkuru kunkuru_teleop_key #kaddamar da kumburin kula da madannai don kunkuru

Idan za ku iya sarrafa motsin kunkuru daga madannai na kan bawa, yana nufin an kafa sadarwar maigida/bawa cikin nasara.

Haɗin Wifi ta atomatik a cikin ROS

Hanyoyin da ke ƙasa suna bayyana yadda ake saita mutum-mutumi don haɗa kai tsaye zuwa cibiyar sadarwar mai masauki ko hanyar sadarwa ta hanyar sadarwa.

Saitin haɗin Wifi ta atomatik don Jetson Nano

Haɗa Jetson Nano ta kayan aikin nesa na VNC ko kai tsaye zuwa allon kwamfuta. Danna gunkin wifi a saman kusurwar dama sannan danna "Edit Connections.."
Danna maɓallin + a cikin Haɗin Intanet:
A ƙarƙashin taga "Zaɓi Nau'in Haɗin kai", danna menu mai saukewa kuma danna maɓallin "Create...":

A cikin Control Panel, danna Wifi zaɓi. Shigar da sunan Wi-Fi don haɗawa a cikin "sunan haɗin gwiwa" da filayen SSID. Zaɓi "Client" a cikin menu na "Yanayin" kuma zaɓi "wlan0" a cikin menu na "Na'ura".
A cikin Control Panel, danna "Gaba ɗaya" zaɓi kuma duba "Haɗa ta atomatik zuwa wannan cibiyar sadarwa...". Saita fifikon haɗin kai zuwa 1 a cikin zaɓin "fififin haɗi don kunnawa ta atomatik". Duba zaɓin "Duk masu amfani na iya haɗawa da wannan hanyar sadarwa". Lokacin da aka saita zaɓi zuwa 0 a cikin "Fififin haɗi don kunnawa ta atomatik" don wasu wifi, wannan yana nufin wannan shine hanyar sadarwar wifi da aka fi so a baya.
Danna "Tsaro Wi-Fi" zaɓi a cikin Control Panel. Zaɓi "WPA & WPA2 Keɓaɓɓen" a cikin filin "Tsaro". Sannan shigar da kalmar wucewa ta Wifi a cikin filin "Password".

Lura: Idan mutum-mutumi ba zai iya haɗa kai tsaye zuwa cibiyar sadarwar wifi ba bayan ya tashi lokacin da aka saita fifikon wifi zuwa 0, yana iya zama matsala ta siginar wifi mai rauni. Domin guje wa wannan matsalar, zaku iya zaɓar share duk zaɓukan wifi waɗanda aka haɗa a baya. Ajiye hanyar sadarwar wifi kawai wanda mai gida ko na'ura mai ba da hanya tsakanin hanyoyin sadarwa ya kirkira. Danna "Saitunan IPv4" a cikin saitunan sarrafa saitunan cibiyar sadarwa. Zaɓi zaɓin "Manual" a cikin filin "Hanyar". Sa'an nan danna "Ƙara", cika adireshin IP na na'ura na bawa a cikin filin "Adireshin". Cika "24" a cikin filin "Netmask". Cika sashin cibiyar sadarwar IP a cikin "Ƙofar". Canja lambobi uku na ƙarshe na sashin cibiyar sadarwar IP zuwa "1". Babban manufar wannan mataki shine gyara adireshin IP. Bayan an gama wannan a karon farko, adireshin IP ɗin zai kasance baya canzawa lokacin haɗawa da WIFI ɗaya daga baya.

Bayan an saita duk saituna, danna "save" don adana saitunan. Bayan ceton ya yi nasara, robot ɗin zai haɗa kai tsaye zuwa cibiyar sadarwar mai watsa shiri ko na'ura mai ba da hanya tsakanin hanyoyin sadarwa lokacin da aka kunna ta.

Lura:

Adireshin IP da aka saita anan yana buƙatar zama iri ɗaya da adireshin IP da aka saita a cikin fayil ɗin .bashrc a Sashe na 2.1.
Adireshin IP na maigidan da kowane bawa dole ne ya zama na musamman.
Adireshin IP na maigida da bawa suna buƙatar kasancewa cikin ɓangaren cibiyar sadarwa iri ɗaya.

Dole ne ku jira mai watsa shiri ko na'ura mai ba da hanya tsakanin hanyoyin sadarwa don aika siginar WiFi kafin a iya kunna robot ɗin bawa kuma ya haɗa kai tsaye zuwa cibiyar sadarwar WiFi.
Bayan an daidaita saitin, idan mutum-mutumi ba zai iya haɗawa ta atomatik zuwa WiFi lokacin da aka kunna shi ba, da fatan za a toshe ka cire katin sadarwar kuma sake gwada haɗawa.

Saitin haɗin Wifi ta atomatik don Rasberi Pi

Hanyar Rasberi Pi iri ɗaya ce da Jetson Nano.

Saitin haɗin Wifi ta atomatik don Jetson TX1

Saitin a Jetson TX1 kusan iri ɗaya ne da a cikin Jetson Nano tare da banda ɗaya Jetson TX1 yakamata ya zaɓi na'urar "wlan1" a cikin "Na'ura" a cikin saitunan saitunan cibiyar sadarwa.

SABBIN INGANTATTUN WAKILAN DA DUNIYA

A cikin aikin samar da wakilai da yawa, saitin daidaita lokaci mai wakilai da yawa mataki ne mai mahimmanci. A cikin aiwatar da samuwar, za a haifar da matsaloli da yawa saboda lokacin tsarin asynchronous na kowane mutummutumi. Multi-agent lokaci aiki tare ya kasu kashi biyu yanayi, wato, halin da ake ciki a cikin abin da duka master da bawa mutummutumi suna da alaka da cibiyar sadarwa da kuma halin da ake ciki a cikin abin da aka katse daga cibiyar sadarwa.

Babban haɗin yanar gizo na master/bayi mai nasara

Bayan an daidaita sadarwar wakilai da yawa, idan na'ura mai gida da na bayi za su iya yin nasarar haɗi zuwa cibiyar sadarwar, za su daidaita lokacin cibiyar sadarwa ta atomatik. A wannan yanayin, ba a buƙatar ƙarin ayyuka don cimma daidaituwar lokaci.

Gyara matsalar katse haɗin haɗin yanar gizo

Bayan an daidaita sadarwar wakilai da yawa, idan na'urorin mai gida da na bawa ba za su iya yin nasarar haɗi zuwa cibiyar sadarwar ba, ya zama dole a daidaita lokacin da hannu. Za mu yi amfani da umarnin kwanan wata don kammala saitin lokaci.

Da farko, shigar da kayan aikin ƙarewa. Daga kayan aikin ƙarewa, yi amfani da kayan aikin raba taga don sanya tashoshin sarrafawa na maigidan da bawa a cikin tagar tasha ɗaya (danna dama don saita taga tsaga, sannan shiga cikin injina da na'urar bawa ta ssh a cikin windows daban-daban) .

sudo apt-samun shigar tasha # Zazzage mai ƙare don raba taga tasha

Danna maɓallin da ke saman hagu, zaɓi zaɓi [Watsawa zuwa duka]/[Watsawa duka], sannan shigar da umarni mai zuwa. Sannan yi amfani da kayan aikin ƙarewa don saita lokaci guda don maigida da bawa.

sudo kwanan wata -s "2022-01-30 15:15:00" # saitin lokacin hannu

Kunshin ROS MULTI-Agent

Gabatarwa Kunshin ROS

Saita sunan bawa

A cikin kunshin aikin wheeltec_multi, ya zama dole a saita suna na musamman ga kowane mutum-mutumin bawa domin gujewa kurakurai. Domin misaliample, Lamba 1 na bawa1 da na 2 na bawa2, da dai sauransu. Manufar kafa sunaye daban-daban shine a haɗa nodes masu gudana da bambanta su da wurare daban-daban. Domin misaliample, batun radar na bawa 1 shine / bawa1 / dubawa, kuma kullin LiDAR na bawa 1 shine / bawa1 / laser.

Saita daidaitawar bayi

Kunshin wheeltec_multi na iya aiwatar da gyare-gyare na al'ada. Lokacin da ake buƙatar ƙira daban-daban, kawai gyara abubuwan haɗin gwiwar da ake so na bayi mutummutumi. Slave_x da bawa_y su ne haɗin gwiwar x da y na bawa tare da maigidan a matsayin ainihin ma'anar magana. Gaban maigidan shine ingantacciyar shugabanci na haɗin gwiwar x, kuma gefen hagu shine kyakkyawan shugabanci na haɗin gwiwar y. Bayan an gama saitin, za a ba da TF coordinate bawa1 a matsayin haɗin gwiwar bawa. Idan maigida daya ne kuma bayi biyu, ana iya saita tsari mai zuwa:

Ƙirƙiri na kwance: Za ka iya saita daidaitawar bawan a hagu zuwa slave_x: 0, bawa_y: 0.8, da kuma haɗin gwiwar bawa a hannun dama ga bawa_x: 0, bawa_y: -0.8.
Ƙirƙirar ginshiƙi: Za a iya saita ma'auni na bawa ɗaya zuwa: bawa_x: -0.8, bawa_y:0, kuma ana iya saita ma'ajin na wani bawa zuwa: bawa_x:-1.8, bawa_y:0.

Samuwar Triangular: Ana iya saita ma'ajin bawa ɗaya zuwa: bawa_x: -0.8, bawa_y: 0.8, kuma ana iya saita ma'ajin ɗayan bawa zuwa: bawa_x: -0.8, bawa_y: -0.8.

Za a iya keɓance sauran tsarin kamar yadda ake buƙata.

Lura:

An saita nisa da aka ba da shawarar tsakanin robots biyu zuwa 0.8, kuma ana ba da shawarar kada ya zama ƙasa da 0.6. An ba da shawarar tazara tsakanin bayi da maigidan a saita ƙasa da 2.0. Mafi nisa daga maigidan, mafi girman saurin layin bawan shine lokacin da maigidan ke juyawa. Saboda ƙayyadaddun iyakar gudu, gudun bawa zai karkata idan bai dace da bukatun ba. Samuwar mutum-mutumin zai zama hargitsi.

Farawar matsayin bawa

Matsayin farko na bawan yana cikin daidaitawar da ake tsammani ta tsohuwa. Kafin gudanar da shirin, kawai sanya mutum-mutumin bawa kusa da abubuwan haɗin da ake sa ran don kammala farawa. Ana aiwatar da wannan aikin ta hanyar kumburin pose_setter a cikin fayil mai suna turn_on_wheeltec_robot.launch a cikin kunshin wheeltec_multi, kamar yadda aka nuna a hoto 4-1-3.

Idan mai amfani yana so ya keɓance matsayin farkon bawa, shi ko ita kawai yana buƙatar saita ƙimar slave_x da slave_y kamar yadda aka nuna a hoto na 4-1-4 a cikin wheeltec_slave.launch. Bawan_x da kimar bawa_y za a wuce zuwa kunna_wheeltec_robot.launch kuma a sanya su zuwa kumburin pose_setter. Kawai sanya mutum-mutumi a wuri na al'ada kafin gudanar da shirin.

Kanfigareshan Matsayi

A cikin samar da wakilai da yawa, matsala ta farko da za a warware ita ce matsayi na maigida da bawa. Maigidan zai fara gina taswirar 2D. Bayan ƙirƙira da adana taswirar, gudanar da kunshin kewayawa na 2D kuma yi amfani da daidaitawar Monte Carlo positioning algorithm (amcl positioning) a cikin fakitin kewayawa na 2D don saita matsayi na maigidan. Tun da maigidan da bayi suna cikin hanyar sadarwa ɗaya kuma suna raba manajan node iri ɗaya, maigidan ya ƙaddamar da taswirar daga kunshin kewayawa na 2D, duk bayi na iya amfani da taswira iri ɗaya ƙarƙashin manajan node iri ɗaya. Saboda haka, bawa baya buƙatar ƙirƙirar taswira. A cikin wheeltec_slave.launch, gudanar da matsayi na Monte Carlo (amcl positioning), bayi za su iya daidaita matsayinsu ta amfani da taswirar da maigidan ya ƙirƙira.

Yadda za a ƙirƙira samuwar da kuma kula da samuwar

A cikin aiwatar da motsin ƙirƙira, ƙirar motsi za a iya sarrafa ta Rviz, keyboard, nesa, da sauran hanyoyin. Bawan yana lissafin saurinsa ta hanyar kullin bawa_tf_listener don sarrafa motsinsa da cimma burin samuwar. Kullin bawa_tf_listener yana iyakance gudun bawa don gujewa wuce gona da iri ta lissafin kumburi, wanda zai haifar da jerin tasiri. Ana iya canza takamaiman ƙimar a wheeltec_slave.launch.

Abubuwan da suka dace na ƙirƙira algorithm sune kamar haka:

Bayanin gujewa cikas

A cikin tsari na wakilai da yawa, maigidan na iya amfani da kullin move_base don kammala nisantar cikas. Koyaya, ƙaddamar da bawa baya amfani da kullin move_base. A wannan gaba, ana buƙatar kiran kumburin multi_avoidance a cikin shirin bawa. An kunna kullin gujewa cikas ta tsohuwa a cikin kunshin. Idan ya cancanta, ana iya saita nisantar zuwa “ƙarya” don kashe kullin gujewa cikas.

Ana nuna wasu sigogin da suka dace na kumburin gujewa cikas a cikin hoton da ke ƙasa, inda safe_distance shine cikas amintaccen iyakar nisa, kuma haɗarin_nisa shine cikas mai haɗari iyakacin nisa. Lokacin da cikas yana cikin nisa mai aminci da nisan haɗari, bawa ya daidaita matsayinsa don guje wa cikas. Lokacin da cikas yana cikin haɗari, bawa zai kori daga cikas.

Tsarin Aiki

Shigar da umarnin aiwatarwa

Shirye-shirye kafin fara samar da wakilai da yawa:

Maigida da bawa suna haɗi zuwa cibiyar sadarwa iri ɗaya kuma suna saita sadarwar wakilai da yawa daidai

Maigidan yana gina taswirar 2D a gaba kuma ya ajiye ta
Ana sanya maigidan a farkon taswirar, kuma an sanya bawan kusa da wurin farawa (matsayin samuwar bawa na tsoho)
Bayan shiga Jetson Nano/Raspberry Pi daga nesa, yi aiki tare da lokaci.

sudo kwanan wata -s "2022-04-01 15:15:00"

Mataki na 1: Bude taswirar 2D daga maigidan.

roslaunch turn_on_wheeltec_robot navigation.launch

Mataki na 2: Gudanar da shirin samarwa daga dukkan bayi.

roslaunch wheeltec_multi wheeltec_slave.launch

Mataki na 3: Buɗe kullin sarrafa madannai daga maigidan ko yi amfani da joystick don sarrafa motsi mai sarrafa nesa.

sake buɗe wheeltec_robot_rc keyboard_teleop.launch

Mataki 4: (Na zaɓi) Kula da motsin robot daga Rviz.

rviz

Lura:

Tabbatar da kammala aikin daidaitawa lokaci kafin aiwatar da shirin.
Lokacin sarrafa maigidan samuwar wakilai da yawa, saurin kusurwa bai kamata yayi sauri ba. Matsakaicin saurin layin da aka ba da shawarar shine 0.2m/s, matakin saurin kusurwa ƙasa da 0.3rad/s. Lokacin da maigidan ke yin juyi, gwargwadon nisa bawa daga maigidan, ana buƙatar mafi girman saurin layin. Saboda iyaka akan saurin madaidaiciya da saurin kusurwa a cikin kunshin, lokacin da motar bawa ba zata iya kaiwa ga saurin da ake buƙata ba, samuwar za ta kasance hargitsi. Gabaɗaya, saurin layin da ya wuce kima na iya lalata mutum-mutumi cikin sauƙi.

Lokacin da adadin bayi ya wuce ɗaya, saboda iyakancewar wifi a kan jirgin na mai masaukin ROS, yana da sauƙi a haifar da gagarumin jinkiri da yanke haɗin sadarwar wakilai da yawa. Yin amfani da na'ura mai ba da hanya tsakanin hanyoyin sadarwa zai iya magance wannan matsala da kyau.
Itacen TF na halittar robot da yawa ( bayi 2) shine: rqt_tf_tree
Jadawalin dangantakar node na ƙirar robot da yawa (bayi 2) shine: rqt_graph

Takardu / Albarkatu

ROBOWORKS Robofleet ALGORITHMS MULTI-Agent [pdf] Manual mai amfani
Algorithms Multi Agent Algorithms, Robofleet, Multi Agent Algorithms, Agent Algorithms, Algorithms

Magana

Manual mai amfani

ROBOWORKS Robofleet ALGORITHMS MULTI-Agent

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