ROBOWORKS Robofleet MULTI-AGENT ALGORITHMS

Zvinotsanangurwa

• Zita reChigadzirwa: ROBOWORKS
• Shanduro: 20240501
• Yakagadzirwa na: Wayne Liu naJanette Lin
• Zuva: 1 Chivabvu 2024

Product Information

ROBOWORKS ndeye akawanda-agent sisitimu inobvumira kuitwa kweakasiyana algorithms erobhoti kuronga uye kutaurirana.

FAQs

Mubvunzo: Chii chandinofanira kuita kana robhoti isingakwanise kubatana neWifi?

A: Kana iro robhoti rikatadza kubatana otomatiki, edza kuburitsa uye kubatanidza kadhi retiweki uye edza kubatanidza zvakare.

SUMMARY

Gwaro iri rinonyanya kutsanangura mashandisirwo eiyo yakawanda-robhoti yekugadzira basa package inonzi wheeltec_multi.

Gwaro iri rakakamurwa kuita zvikamu zvina:

• Chikamu chekutanga chinonyanya kutaura nezvekuiswa kwemaitiro akawanda ekugadzira marobhoti;
• chikamu chechipiri chinonyanya kutsanangura maitiro eROS akawanda-mashini ekukurukurirana, kusanganisira ROS kuvaka multi-machine communication uye matambudziko angangosangana nawo mukugadzirisa kweROS kutaurirana;
• chikamu chechitatu chinonyanya kutsanangura matanho ekushanda e-multi-machine time synchronization;
• chikamu chechina chinotsanangudza mashandisirwo chaiwo eiyo yakawanda-muchina yekugadzira basa pasuru.

Chinangwa chegwaro iri sumo kune akawanda-agent marobhoti masisitimu uye inobvumira vashandisi kutanga iyo yakawanda-robhoti yekugadzira purojekiti nekukurumidza.

SUMO YEMULTI-AGEN ALGORITHMS

Multi-agent yekugadzira algorithms

Iyi ROS package inopa dambudziko rakajairwa revazhinji-vamiririri mukubatana kwekutonga panguva yekugadzira drive. Ichi chidzidzo chinoisa hwaro hwekuvandudza mune ramangwana pane iyi dingindira. Iyo formation control algorithm inoreva algorithm inodzora maajenti akawanda kuti aumbe chimiro chaicho chekuita basa. Kudyidzana kunoreva kubatirana pakati pevamiririri vakawanda vachishandisa humwe hukama hunomanikidza kupedza basa. Tora iyo yakawanda-robhoti yekugadzira drive seye example, kubatana kunoreva kuti marobhoti akawanda anoumba inodiwa kuumbwa pamwechete. Chinokosha chayo hukama hwemasvomhu hunogutsa pakati pezvinzvimbo zverobhoti rega rega. Nzira dzekugadzira dzinonyanya kukamurwa kuita centralized formation control uye kugovera kuumbwa kwekutonga. Pakati pemaumbirwo ekudzora nzira dzinonyanya kusanganisira iyo chaiyo yekumisikidza nzira, graphical theory nzira, uye modhi yekufungidzira nzira. Yakagoverwa maitiro ekudzora maitiro anonyanya kusanganisira nzira yemutungamiri-muteveri, maitiro-akavakirwa pamaitiro, uye yemhando yemaitiro maitiro.
Iyi ROS package inoshandisa nzira yemutungamiri-muteveri mune yakagoverwa yekudzora nzira yekugadzira iyo yakawanda-robhoti yekugadzira drive. Robhoti rimwe mukuumbwa rinosarudzwa semutungamiri, uye mamwe marobhoti anogadzwa sevaranda kutevera mutungamiri. Iyo algorithm inoshandisa iyo yekufamba trajectory yerobhoti inotungamira kuseta marongero kuti atevedzerwe nemarobhoti anotevera ane imwe nzira uye nekumhanya. Nekugadzirisa kutsauswa kwechinzvimbo kubva kumarongedzero ekutevera, vateveri vanozopedzisira vadzikisa kutsauka pakati pemuteveri nemarongedzero anotarisirwa ekutevera kusvika zero kuitira kuti vazadzikise zvinangwa zvekugadzira dhiraivha. Nenzira iyi, iyo algorithm haina kunyanya kuoma.

Zvipingamupinyi kudzivirira algorithms

Chinhu chakajairika chipingamupinyi chekudzivirira algorithm inzira yekunyepedzera inogoneka yemunda. Kufamba kwerobhoti munzvimbo yemuviri kunoonekwa sekufamba mundima yesimba rekugadzira. Icho chipingamupinyi chiri padyo chinozivikanwa neLiDAR. Icho chipingamupinyi chinopa chinosemesa simba remumunda kuti riburitse repulsion kune robhoti uye chinongedzo chinopa nzvimbo inokwevera kuburitsa simba rinokwevera kune robhoti. Nenzira iyi, inodzora kufamba kwebhobhoti pasi pechiito chakabatanidzwa chekudzivisa uye kukwezva.
Iyi ROS package ndeye kuvandudzwa kunoenderana neyakagadzirwa nzira yemunda. Chekutanga, iyo algorithm yekugadzira inoverenga mutsara uye angular velocity yeMuranda anotevera. Zvadaro zvinowedzera kana kuderedza mutsara uye angular velocity maererano nezvipingamupinyi zvekudzivirira zvinodiwa. Kana chinhambwe pakati peMuranda muteveri uye chipingamupinyi chiri padyo, simba rekudzoreredza remhinganidzo kumuteveri weMuranda rakakura. Zvichakadaro, shanduko yeiyo linear velocity uye angular velocity kusiyana kwakakura. Kana chipingamupinyi chiri padhuze nekumberi kweMuranda muteveri, kudzorwa kwechipingamupinyi kumuteveri weMuranda kunova kukuru (kudzoreredza kwepamberi ndiko kukuru uye kudzoreredza kwedivi ndiko kudiki). Nekuda kweizvozvo, misiyano yemutsara velocity uye angular velocity yakakura. Kuburikidza neyakagadzirwa nzira yemunda, inovandudza mhinduro kana robhoti raigona kumira kupindura pamberi pechipingaidzo. Izvi zvinoshandira chinangwa chekudzivirira zviri nani zvipingamupinyi.

MULTI-AGENT COMMUNICATION SETUP

Multi-agent kutaurirana ndeimwe yematanho akakosha ekupedzisa akawanda-robhoti kuumbwa. Kana nzvimbo dzehama dzemarobhoti akawanda dzisingazivikanwe, marobhoti anofanira kugovana ruzivo rweumwe neumwe kuburikidza nekutaurirana kuti afambise kugadzwa kwekubatanidza. ROS-yakagoverwa zvivakwa uye network kutaurirana zvine simba kwazvo. Haisi nyore chete kune-inter-process kutaurirana asiwo yekukurukurirana pakati pemidziyo yakasiyana. Kuburikidza netiweki kutaurirana, node dzese dzinogona kumhanya pane chero komputa. Mabasa makuru akadai sekugadzirisa data anopedzwa padivi rekugamuchira. Iwo mashini evaranda ane basa rekugamuchira dhata yezvakatipoteredza inounganidzwa neakasiyana masensa. Iye anotambira pano ndiye maneja anomhanyisa Master node muROS. Iyo yazvino yakawanda-agent yekutaurirana chimiro ndeye kuburikidza nenode maneja uye parameter maneja kubata kutaurirana pakati peakawanda marobhoti.

Matanho ekumisikidza multi-agent communications

• Gadzirisa ROS Zvidzore mune imwechete network
  • Pane nzira mbiri dzekumisikidza Master/Slave ROS Controls pasi peiyo network.

Sarudzo yekutanga:

Iyo Master Host inogadzira yemuno wifi nekumhanyisa Master node maneja. Kazhinji, rimwe remarobhoti anogadzwa satenzi anogadzira iyi wifi network. Mamwe marobhoti kana muchina chaiwo anojoinha iyi wifi network sevaranda.

Sarudzo 2:

Iyo yemuno wifi network inopihwa neyechitatu-bato router senzvimbo yekuzivisa ruzivo. Marobhoti ese akabatana kune imwechete router. Iyo router inogona zvakare kushandiswa pasina kubatana kweinternet. Sarudza rimwe remarobhoti satenzi uye mhanyisa Master node maneja. Mamwe marobhoti anogadzwa sevaranda uye anomhanyisa tenzi node maneja kubva kuna tenzi.
Sarudzo yekuti ndeipi sarudzo yekusarudza zvinoenderana nezvinodiwa zveprojekiti yako. Kana huwandu hwemarobhoti anoda kutaurirana asiri akawanda, Option 1 inokurudzirwa nekuti inochengetedza mutengo uye iri nyore kuseta. Kana huwandu hwemarobhoti hwawanda, Option 2 inokurudzirwa. Iyo inomanikidza pasimba rekombuta yeROS tenzi kutonga uye kushomeka paboard wifi bandwidth inogona kukonzeresa kunonoka uye kukanganisa network. Router inogona kugadzirisa izvi zviri nyore. Ndokumbira utarise kuti kana uchiita multi-agent kutaurirana, kana iyo chaiyo muchina ichishandiswa seROS muranda, yayo network mode inoda kuisirwa bhiriji mode.

Gadzirisa Master / Slave nharaunda zvinosiyana

Mushure mezvose maROS masters ese ari mune imwecheteyo network, iyo nharaunda inosiyana yeakawanda-agent kutaurirana inoda kusetwa. Iyi shanduko yenharaunda yakagadziridzwa mu.bashrc faira mudhairekitori guru. Mhanya iyo gedit ~/.bashrc kuraira kuti uitange. Ndapota cherechedza kuti zvose .bashrc mafaira atenzi nemuranda mukukurukurirana kwevamiririri vakawanda vanoda kugadzirwa. Chinoda kuchinjwa ndeche IP kero pakupera kwefaira. Mitsetse miviri yeROS_MASTER_URI neROS_HOSTNAME, sezviri kuratidzwa mumufananidzo 2-1-4. Iyo ROS_MASTER_URI neROS_HOSTNAME yeROS host ese maIP emuno. Iyo ROS_MASTER_URI iri muROS muranda .bashrc faira rinoda kuchinjwa kuti rive IP kero yemugamuchiri uku ROS_HOSTNAME ichisara sekero yeIP yenzvimbo.

ROS yakawanda-muchina kutaurirana haina kumanikidzwa neROS kuburitsa vhezheni. Mukuita kwekutaurirana kwe-multi-machine, munhu anofanirwa kuziva zvinotevera:

1. Kushanda kweROS muranda chirongwa kunoenderana neROS master chirongwa cheROS master mudziyo. Iyo ROS tenzi chirongwa chinofanira kutanga chatanga pane tenzi mudziyo usati waita chirongwa chevaranda pamudziyo wevaranda.
2. Iwo IP kero dzetenzi uye muranda muchina mune akawanda-muchina kutaurirana anofanirwa kunge ari mune imwecheteyo network. Izvi zvinoreva kuti IP kero uye subnet mask iri pasi peiyo network.
3. ROS_HOSTNAME in the environment configuration file .bashrc haikurudzirwe kushandisa localhost. Zvinokurudzirwa kushandisa kero yeIP chaiyo.
4. Muchiitiko chekuti kero yemuranda IP haina kuiswa zvakanaka, mudziyo wevaranda unogona kuramba uchiwana ROS tenzi asi haugone kuisa ruzivo rwekutonga.
5. Kana iyo chaiyo muchina ukatora chikamu mune yakawanda-agent kutaurirana, yayo network mode inoda kusetwa kune bhiriji modhi. Static IP haigone kusarudzwa kune network yekubatanidza.
6. Multi-machine kutaurirana haigone view kana kunyorera kumisoro yerudzi rwemeseji data dzisipo munharaunda.
7. Unogona kushandisa Diki Turtle simulation demo kuti uone kana kutaurirana pakati pemarobhoti kwakabudirira:
   • a. Tiza kubva kuna tenzi
     • rescore #launch ROS masevhisi
     • rostrum turtles turtlesim_node #launch turtles interface
   • b. Tiza muranda
     • rerun turtles turtle_teleop_key #tangisa kiibhodhi control node yekamba

Kana iwe uchikwanisa kushandura turtle mafambiro kubva pane kiibhodhi pamuranda, zvinoreva kuti tenzi / kutaurirana kwemuranda kwakasimbiswa zvinobudirira.

Otomatiki Wifi yekubatanidza muROS

Aya maitirwo ari pasi apa anotsanangura maitiro ekugadzirisa iro robhoti kuti ribatanidze otomatiki kune iyo host network kana router network.

Otomatiki Wifi yekubatanidza setup yeJetson Nano

1. Batanidza Jetson Nano kuburikidza neVNC iri kure chishandiso kana zvakananga kune komputa skrini. Dzvanya pane wifi icon pakona yekurudyi wobva wadzvanya "Edit Connections.."
2. Dzvanya bhatani + muNetwork Connections:
3. Pasi pe "Sarudza Rudzi rweKubatanidza" hwindo, tinya iyo yekudonha-pasi menyu uye tinya "Gadzira..." bhatani:
4. Mune Control Panel, tinya Wifi sarudzo. Pinda zita reWi-Fi kuti ubatanidze mu "Zita rekubatanidza" uye SSID minda. Sarudza "Mutengi" mu "Mode" yekudonha menyu uye sarudza "wlan0" mu "Chishandiso" yekudonha menyu.
5. MuControl Panel, tinya iyo "General" sarudzo uye tarisa "Batanidza otomatiki kune iyi network ...". Gadza chinokoshera chekubatanidza kune 1 mu "Kubatanidza pamberi pe auto-activation" sarudzo. Tarisa iyo "Vashandisi vese vanogona kubatana kune iyi network" sarudzo. Kana iyo sarudzo yaiswa ku0 mu "Connection pamberi pe auto-activation" kune imwe wifi, izvi zvinoreva kuti iyi ndiyo yaidiwa wifi network kare.
6. Dzvanya "Wi-Fi Chengetedzo" sarudzo muKudzora Panel. Sarudza "WPA & WPA2 Yemunhu" mu "Security" ndima. Wobva waisa password yeWiFi mundima ye "Password".

Cherechedza: Kana iro robhoti risingakwanisi kubatana netiweki yewifi mushure mekubhoti kana iyo wifi yakakosha yakaiswa ku0, inogona kukonzerwa nedambudziko reiyo isina simba chiratidzo chewifi. Kuti udzivise dambudziko iri, unogona kusarudza kudzima ese eWiFi sarudzo dzave dzakabatana munguva yakapfuura. Chengetedza chete wifi network yakagadzirwa nemuiti kana router. Dzvanya iyo "IPv4 Settings" sarudzo mune network zvigadziriso control panel. Sarudza "Manual" sarudzo mu "Method" ndima. Wobva wadzvanya "Wedzera", zadza iyo IP kero yemuchina wevaranda mu "Kero" ndima. Zadza "24" mu "Netmask" ndima. Zadza IP network segment mu "Gateway". Shandura manhamba matatu ekupedzisira eIP network segment kuita "1". Chinangwa chikuru chedanho iri kugadzirisa iyo IP kero. Mushure mekunge izvi zvapedzwa kekutanga, iyo IP kero icharamba isina kuchinjika kana ichibatanidza kune imwecheteyo WIFI.

Mushure mezvose zvigadziriso zvagadziriswa, tinya "sevha" kuchengetedza zvigadziriso. Mushure mekunge kuchengetedza kwabudirira, robhoti inozongobatana netiweki yemuiti kana router kana yabatidzwa.

Cherechedza:

1. IP address yakaiswa pano inoda kufanana neIP address yakaiswa mu .bashrc file muChikamu 2.1.
2. IP kero yatenzi uye muranda wega wega anofanira kunge akasiyana.
3. Iyo tenzi nemuranda IP kero inofanirwa kunge iri muchikamu chimwe chete chetiweki.
4. Iwe unofanirwa kumirira mugadziri kana router kuti atumire chiratidzo cheWiFi risati rabatidzwa robhoti robhoti uye otomatiki kubatana kune network yeWiFi.
5. Mushure mekugadzirisa kwagadziriswa, kana robhoti isingakwanise kubatana neWiFi painobatidzwa, ndapota vhara uye bvisa kadhi retiweki uye edza kubatanidza zvakare.

Otomatiki Wifi yekubatanidza kuseta yeRaspberry Pi

Maitiro eRaspberry Pi akafanana neJetson Nano.

Otomatiki Wifi yekubatanidza setup yeJetson TX1

Iyo yekumisikidza muJetson TX1 yakada kufanana neiyo muJetson Nano kunze kweimwe chete Jetson TX1 inofanirwa kusarudza mudziyo we "wlan1" mu "Chishandiso" mune network zvigadziriso control panel.

MULTI-AGEN SYNCHRONIZATION SETUP

Mune akawanda-agent yekugadzira purojekiti, iyo yakawanda-agent nguva yekuwiriranisa kuseta idanho rakakosha. Mukuita kwekuumbwa, matambudziko mazhinji achakonzerwa nekuda kweasynchronous system nguva yerobhoti yega yega. Multi-agent time synchronization yakakamurwa kuita mamiriro maviri, anoti, mamiriro ayo ese ari maviri tenzi uye muranda marobhoti akabatana kune network uye mamiriro ayo ese ari maviri akabviswa kubva kunetiweki.

Kubudirira master/muranda network network

Mushure mekunge iyo yakawanda-agent kutaurirana yagadziriswa, kana tenzi nevaranda muchina vakakwanisa kubatana kunetiweki, ivo vanozongoenderana netiweki nguva. Muchiitiko ichi, hapana zvimwe zviito zvinodiwa kuti uwane kuwiriranisa nguva.

Troubleshooting network dis-connections

Mushure mekunge iyo yakawanda-agent kutaurirana yagadziriswa, kana tenzi nemuranda zvishandiso zvisingakwanisi kubudirira kubatana kunetiweki, zvinodikanwa kuwiriranisa nemaoko nguva. Isu tichashandisa iyo date command kupedzisa nguva yekumisikidza.

Kutanga, isa iyo terminator chishandiso. Kubva pachishandiso cheterminator, shandisa hwindo rekutsemura hwindo kuti uise materminal eshe uye muranda mune imwechete terminal hwindo (tinya-kurudyi kuseta hwindo rakakamurwa, uye pinda mukati meatenzi uye muranda muchina ne ssh mumahwindo akasiyana) .

• sudo apt-get install terminator # Dhawunirodha terminator kutsemura hwindo rekupedzisira

Baya bhatani riri kumusoro kuruboshwe, sarudza sarudzo [Broadcast to all]/[Broadcast all], woisa murairo unotevera. Wobva washandisa chishandiso cheterminator kuseta nguva imwechete yatenzi nemuranda.

• sudo date -s "2022-01-30 15:15:00" # Manual nguva setup

MULTI-AGENT ROS PACKAGE

ROS Package Nhanganyaya

Gadzira zita remuranda

Mune wheeltec_multi function package, zvinodikanwa kuseta zita rakasiyana rerobhoti rega rega revaranda kuitira kudzivirira kukanganisa. For example, Nhamba 1 yemuranda1 uye Nhamba 2 yemuranda2, nezvimwewo. Chinangwa chekuisa mazita akasiyana ndechekuita boka rinomhanya node uye kuasiyanisa nemazita akasiyana. For example, iro radar musoro wemuranda 1 is/slave1/scan, uye LiDAR node yemuranda 1 is/slave1/laser.

Gadzira zvirongwa zvevaranda

Iyo wheeltec_multi package inogona kuita tsika mafomu. Kana maumbirwo akasiyana achidikanwa, ingo gadzirisa zvinodikanwa zvemarobhoti evaranda. Slave_x uye muranda_y ndiwo x uye y anoronga emuranda natenzi senzvimbo yekutanga yereferensi. Kumberi kwatenzi ndiyo nzira yakanaka ye x coordinate, uye rutivi rworuboshwe ndiyo nzira yakanaka ye y coordinate. Mushure mekugadzirisa kwapera, TF inoronga muranda1 ichapihwa seyaitarisirwa kurongeka kwemuranda. Kana paine tenzi mumwechete nevaranda vaviri, kuumbwa kunotevera kunogona kusetwa:

1. Maumbirwo akachinjika: Unogona kuseta zvinorongeka zvemuranda kuruboshwe kumuranda_x:0, muranda_y: 0.8, uye zvinorongeka zvemuranda kurudyi kune muranda_x:0, muranda_y:-0.8.
2. Maumbirwo ekoramu: Zvinorongeka zvemuranda mumwe zvinogona kuiswa ku: muranda_x:-0.8, muranda_y:0, uye zvinorongeka zvemumwe muranda zvinogona kuiswa ku: muranda_x:-1.8, muranda_y:0.
3. Maumbirwo matatu matatu: Zvinorongeka zvemuranda mumwechete zvinogona kuiswa ku: muranda_x:-0.8, muranda_y: 0.8, uye zvinorongeka zvemumwe muranda zvinogona kuiswa ku: muranda_x:-0.8, muranda_y:-0.8.

Mamwe maumbirwo anogona kugadzirwa sezvinodiwa.

Cherechedza:

• Iyo yakakurudzirwa kureba pakati pemarobhoti maviri inoiswa ku0.8, uye inokurudzirwa kuti isave yakaderera pane 0.6. Nharaunda pakati pevaranda natenzi inokurudzirwa kuiswa pazasi 2.0. Kana iri kure natenzi, ndiko kukura kunoita kumhanya kwemuranda kana tenzi achitendeuka. Nekuda kwekuganhurwa kwekumhanya kwakanyanya, kumhanya kwemuranda kunozotsauka kana isingaite zvinodiwa. Kugadzirwa kwerobhoti kuchaita mhirizhonga.

Kutanga kwechinzvimbo chemuranda

1. Nzvimbo yekutanga yemuranda iri pazvirongwa zvinotarisirwa nekukasira. Usati watanga chirongwa, ingoisa robhoti revaranda padhuze nemarongero ayo anotarisirwa kuti apedze kutanga. Basa iri rinoitwa nepose_setter node mufaira rine zita turn_on_wheeltec_robot.launch mu wheeltec_multi pasuru, sezvinoratidzwa mufananidzo 4-1-3.

Kana mushandisi achida kugadzirisa chinzvimbo chekutanga chemuranda, anongoda kuseta iyo muranda_x uye muranda_y kukosha sezvakaratidzwa muFigure 4-1-4 mu wheeltec_slave.launch. The muranda_x uye muranda_y kukosha kuchapfuudzwa kuturn_on_wheeltec_robot.launch uye kupihwa kune pose_setter node. Ingoisa robhoti munzvimbo yakasarudzika usati wamhanyisa chirongwa.

Position Configuration

Mukuumbwa kwevamiriri vakawanda, dambudziko rekutanga kugadziriswa nderekumisikidzwa kwatenzi nemuranda. Tenzi achatanga kugadzira mepu ye2D. Mushure mekugadzira nekuchengetedza mepu, mhanyisa iyo 2D yekutenderera pasuru uye shandisa inogadzirisa Monte Carlo positioning algorithm (amcl positioning) mu 2D navigation package kugadzirisa mamiriro eshe. Sezvo tenzi nevaranda vari mumambure mamwechete uye vachigovana maneja wenode imwechete, tenzi akatangisa mepu kubva ku2D navigation package, vese varanda vanogona kushandisa mepu yakafanana pasi pemaneja imwechete. Naizvozvo, muranda haafanire kugadzira mepu. Mu wheeltec_slave.launch, mhanya Monte Carlo positioning (amcl positioning), varanda vanogona kugadzirisa nzvimbo dzavo nekushandisa mepu yakagadzirwa natenzi.

Nzira yekugadzira kuumbwa uye kuchengetedza kuumbwa

Mukuita kwekufambisa kufamba, iyo master movement inogona kudzorwa neRviz, keyboard, remote control, uye dzimwe nzira. Muranda anoverenga kumhanya kwayo kuburikidza nemuranda_tf_muteereri node kuitira kudzora kufamba kwayo uye kuzadzisa chinangwa chekuumbwa. The muranda_tf_listener node inodzikamisa kumhanya kwenhapwa kudzivirira kumhanya kwakanyanya nekuverenga node, izvo zvinokonzeresa zvakatevedzana. Iko kukosha chaiko kunogona kugadziridzwa mu wheeltec_slave.launch.

Iwo akakodzera maparamita eiyo algorithm yekugadzira ndeaya anotevera:

Ruzivo rwekunzvenga zvipingaidzo

Mune akawanda-agent magadzirirwo, tenzi anogona kushandisa move_base node kupedzisa kudzivirira zvipingamupinyi. Nekudaro, kutanga kwemuranda hakushandise iyo move_base node. Panguva ino, iyo multi_avoidance node inoda kunzi muchirongwa chevaranda. Iyo chipingamupinyi yekudzivirira node inogoneswa nekusarudzika mupakeji. Kana zvichidikanwa, kudzivirira kunogona kuiswa ku "nhema" kudzima chipingamupinyi chekudzivirira node.

Mamwe maparameter akakodzera enzvimbo yekudzivisa zvipingamupinyi anoratidzwa pamufananidzo uri pazasi, apo safe_distance ndiyo chipingamupinyi chakachengeteka chinhambwe chinoganhurwa, uye danger_distance ndiyo chipingamupinyi chine ngozi muganhu wedaro. Kana chipingamupinyi chiri mukati mechinhambwe chakachengeteka uye chinhambwe chengozi, muranda anogadzirisa nzvimbo yake kuti adzivise chipingamupinyi. Kana chipingamupinyi chiri mukati menjodzi, muranda anotyaira kubva pane chipingamupinyi.

Operation Procedure

Pinda execution command

Gadziriro usati watanga kuumbwa kwevazhinji-agent:

• Iyo tenzi nemuranda vanobatana kune imwecheteyo network uye kumisikidza akawanda-agent kutaurirana nenzira kwayo
• Tenzi anovaka mepu ye2D pamberi uye anoichengeta
• Tenzi anoiswa panotangira mepu, uye muranda anoiswa padyo nenzvimbo yekutanga (iyo yakasarudzika yekugadzira muranda chinzvimbo)
• Mushure mekupinda muJetson Nano / Raspberry Pi kure, ita kuwiriranisa nguva.

sudo date -s "2022-04-01 15:15:00"

• Danho 1: Vhura mepu ye2D kubva kuna tenzi.

roslaunch turn_on_wheeltec_robot navigation.launch

• Danho 2: Mhanyai chirongwa chekugadzira kubva kuvaranda vese.

roslaunch wheeltec_multi wheeltec_slave.launch

• Danho 3: Vhura iyo keyboard control node kubva kuna tenzi kana kushandisa joystick kudzora kure tenzi kufamba.

relaunch wheeltec_robot_rc keyboard_teleop.launch

• Danho 4: (Sarudzo) Tarisa mafambiro erobhoti kubva kuRviz.

rviz

Cherechedza: 

1. Iva neshuwa yekupedza iyo nguva yekuyananisa oparesheni usati waita chirongwa.
2. Paunenge uchidzora tenzi weakawanda-agent kuumbwa, iyo angular velocity haifanirwe kunge ichikurumidza. Iyo inokurudzirwa mutsara kumhanya ndeye 0.2m/s, angular kumhanya dhigirii pazasi 0.3rad/s. Kana tenzi achitendeuka, muranda paanobva aenda kure natenzi, ndipo panodiwawo kumhanya kukuru. Nekuda kwemuganho weiyo mutsara kumhanya uye angular kumhanya mupakeji, kana mota yevaranda isingakwanise kusvika pakumhanya kunodiwa, kuumbwa kunenge kwaita mhirizhonga. Pakazere, iyo yakawandisa mutsara kumhanya inogona kukuvadza iro robhoti zviri nyore.
3. Kana nhamba yevaranda inopfuura imwe chete, nekuda kweiyo shoma pa-board wifi bandwidth yeROS host, zviri nyore kukonzera kunonoka kunokosha uye kubviswa kwe-multi-agent communication. Kushandisa router kunogona kugadzirisa dambudziko iri zvakanaka.
4. Iyo TF muti weiyo yakawanda-robhoti kuumbwa (2 varanda) ndeiyi: rqt_tf_tree
5. Iyo node hukama dhizaini yeakawanda-robhoti kuumbwa (2 varanda) ndeiyi: rqt_graph

Zvinyorwa / Zvishandiso

ROBOWORKS Robofleet MULTI-AGENT ALGORITHMS [pdf] User Manual Robofleet Multi Agent Algorithms, Robofleet, Multi Agent Algorithms, Agent Algorithms, Algorithms

References

• User Manual