ROBOWORKS Robofleet MULTI-AGENT ALGORITHMS Incwadi Yomsebenzisi

A: Ukuba irobhothi iyasilela ukudibanisa ngokuzenzekelayo, zama ukukhupha iplagi kwaye uphinde uxhume ikhadi lenethiwekhi kwaye uzame ukuxhuma kwakhona.

USHWANKATHELO

Olu xwebhu luchaza ikakhulu usebenziso lwempahla yokusebenza yerobhothi ezininzi ebizwa wheeltec_multi.

Olu xwebhu lwahlulwe lwaba ziinxalenye ezine:

Inxalenye yokuqala ikakhulu malunga nokuqaliswa kwendlela yokwenza iirobhothi ezininzi;
inxalenye yesibini ichaza ngokuyintloko i-ROS izicwangciso zonxibelelwano lwee-multi-machine, kubandakanywa ne-ROS yokwakhiwa kwe-multi-machine unxibelelwano kunye neengxaki ezinokujamelana nazo kwinkqubo yokunxibelelana kwe-ROS;

inxalenye yesithathu ichaza ngokuyintloko amanyathelo okusebenza okulungelelaniswa kwexesha loomatshini abaninzi;
Inxalenye yesine ichaza usetyenziso olukhethekileyo lwephakheji yomsebenzi wokwenziwa koomatshini abaninzi.

Injongo yolu xwebhu sintshayelelo kwiinkqubo zerobhothi ze-agent ezininzi kwaye ivumela abasebenzisi ukuba baqalise iprojekthi yokwenziwa kweerobhothi ezininzi ngokukhawuleza.

INTSHAYELELO NGE-ALGORITHMS YE-MULTI-AGEENT

Ii-algorithms zokwenziwa kweearhente ezininzi

Le phakheji ye-ROS ibonisa ingxaki eqhelekileyo yee-arhente ezininzi kulawulo lwentsebenziswano ngexesha lokuqulunqa. Esi sifundo sibeka isiseko sophuhliso lwexesha elizayo kwesi sihloko. I-algorithm yokulawula ukubunjwa ibhekisela kwi-algorithm elawula ii-arhente ezininzi ukwenza ulwakhiwo oluthile ukwenza umsebenzi. Ukusebenzisana kubhekiselele kwintsebenziswano phakathi kweearhente ezininzi zisebenzisa unxibelelwano oluthile lwesithintelo ukugqiba umsebenzi. Thatha i-multi-robot formation drive njenge-example, intsebenziswano ithetha ukuba iirobhothi ezininzi zenza ukwakheka okunqwenelekayo kunye. Undoqo wayo lubudlelwane obuthile bemathematika obanelisayo phakathi kwezikhundla zerobhothi nganye. Iindlela zoKwakha zahlulwe ikakhulu kulawulo lokubumba olukwindawo esembindini kunye nolawulo lokubunjwa olusasazwayo. Iindlela zolawulo lolwakhiwo olukwindawo esembindini ikakhulu zibandakanya indlela yolwakhiwo lwenyani, indlela yethiyori yegraphical, kunye nemodeli yokuqikelela indlela. Iindlela zokulawula ukubunjwa okwabiwe ikakhulu zibandakanya indlela yokulandela inkokeli, indlela esekelwe kwindlela yokuziphatha, kunye nendlela yesakhiwo esibonakalayo.
Le phakheji ye-ROS isebenzisa indlela yenkokeli-umlandeli kwindlela yokulawula ukubunjwa okwabiweyo ukwenza i-multi-robot formation drive. Irobhothi enye ekubunjweni yonyulwa njengenkokeli, kwaye ezinye iirobhothi zonyulwa njengamakhoboka ukulandela inkokeli. I-algorithm isebenzisa i-trajectory ye-movement ye-robot ehamba phambili ukuseta ulungelelwaniso oluza kulandelwa ngamarobhothi alandelayo kunye nolwalathiso oluthile kunye nesantya. Ngokulungisa ukuphambuka kwezikhundla kwiindlela zokulandela umkhondo, abalandeli ekugqibeleni baya kunciphisa ukuphambuka phakathi komlandeli kunye nolungelelwaniso lokulandelela olulindelekileyo ukuya kwi-zero ukuze kuphunyezwe iinjongo zokuqhuba ukuqulunqwa. Ngale ndlela, i-algorithm ayinzima kangako.

Ii-algorithms zokuthintela imiqobo

I-algorithm yokuphepha imiqobo eqhelekileyo yindlela yokwenza intsimi enokwenzeka. Ukushukuma kwerobhothi kwindawo ebonakalayo kuthathwa njengentshukumo kwintsimi yamandla okwenziwa. Owona mqobo ukufutshane uchongwe yi-LiDAR. Umqobo ubonelela ngommandla wamandla ochasayo ukuvelisa ukunyanyeka kwirobhothi kwaye indawo ekujoliswe kuyo ibonelela ngommandla womxhuzulane wokuvelisa amandla omxhuzulane kwirobhothi. Ngale ndlela, ilawula ukunyakaza kwerobhothi phantsi kwesenzo esidibeneyo sokugxotha kunye nokukhanga.
Le phakheji ye-ROS luphuculo olusekwe kwindlela yokwenza intsimi enokubakho. Okokuqala, i-algorithm yokwakheka ibala isantya somgca kunye ne-angular yomlandeli wekhoboka. Emva koko iyakwandisa okanye iyancipha isantya somgca kunye ne-angular ngokweemfuno zokuthintela umqobo. Xa umgama phakathi komlandeli wekhoboka kunye nomqobo usondele, amandla okubuyisela umqobo kumlandeli wekhoboka mkhulu. Okwangoku, utshintsho lwesantya somgca kunye neenguqu ze-angular velocity zinkulu. Xa umqobo ukufutshane phambi komlandeli wekhoboka, ukunyanzeliswa komqobo kumlandeli weKhoboka kuba mkhulu (i-front repulsion yeyona inkulu kwaye i-side repulsion yeyona incinci). Ngenxa yoko, iinguqu zesantya somgca kunye nesantya se-angular zinkulu. Ngokusebenzisa indlela yentsimi enokwenzeka eyenziweyo, iphucula isisombululo xa irobhothi inokuyeka ukuphendula phambi komqobo. Oku kufeza injongo yokuphepha imiqobo engcono.

USEKO LONXIBELELWANO LWE-MULTI-ARENTE

Unxibelelwano lwee-agent ezininzi ngomnye wamanyathelo aphambili okugqiba ukubunjwa kweerobhothi ezininzi. Xa izikhundla ezizalanayo zeerobhothi ezininzi zingaziwa, iirobhothi kufuneka zabelane ngolwazi ngonxibelelwano ukuze kube lula ukusekwa koqhagamshelwano. Ulwakhiwo olusasazwayo lwe-ROS kunye nonxibelelwano lwenethiwekhi lunamandla kakhulu. Ayilungele kuphela unxibelelwano phakathi kwenkqubo kodwa kunye nonxibelelwano phakathi kwezixhobo ezahlukeneyo. Ngonxibelelwano lwenethiwekhi, zonke iinodi zinokusebenza kuyo nayiphi na ikhompyuter. Imisebenzi ephambili efana nokusebenza kwedatha igqityiwe kwicala lokusingatha. Oomatshini bekhoboka banoxanduva lokufumana idatha yokusingqongileyo eqokelelwe ziinzwa ezahlukeneyo. Umamkeli olapha ngumphathi osebenzisa i-Master node kwi-ROS. Isakhelo sonxibelelwano sangoku se-multi-agent singomphathi we-node kunye nomphathi weparameter ukusingatha unxibelelwano phakathi kweerobhothi ezininzi.

Amanyathelo okuseta unxibelelwano lweearhente ezininzi

Cwangcisa iziLawuli zeROS kwinethiwekhi efanayo
- Kukho iindlela ezi-2 zokumisela i-Master/Slave ROS Controls phantsi kwenethiwekhi efanayo.

Ukhetho 1:

I-Master Host yenza i-wifi yendawo ngokuqhuba umphathi we-node eyi-Master. Ngokubanzi, enye yeerobhothi echongwe njengenkosi yenza le nethiwekhi ye-wifi. Ezinye iirobhothi okanye oomatshini benyani bajoyina le nethiwekhi ye-wifi njengamakhoboka.

Ukhetho loku-2:

Inethiwekhi ye-wifi yendawo inikezelwa yi-router yomntu wesithathu njengeziko lokudlulisa ulwazi. Zonke iirobhothi zixhunyiwe kwi-router efanayo. I-router ingasetyenziselwa ngaphandle koqhagamshelwano lwe-intanethi. Khetha enye yeerobhothi njengenkosi kwaye uqhube umphathi wenode eyi-Master. Ezinye iirobhothi zonyulwa njengamakhoboka kwaye ziqhuba umphathi we-master node evela kwinkosi.
Isigqibo sokuba yeyiphi na inketho yokukhetha ixhomekeke kwiimfuno zeprojekthi yakho. Ukuba inani leerobhothi ezifuna ukunxibelelana alikho kwisixa esikhulu, uKhetho loku-1 luyacetyiswa kuba lugcina iindleko kwaye kulula ukuseta. Xa inani leerobhothi likhulu, uKhetho lwesi-2 luyacetyiswa. Isithintelo kumandla ekhompyuter yolawulo oluphambili lweROS kunye nomda we-wifi bandwidth ngokulula kunokubangela ukulibaziseka kunye nokuphazamiseka kwenethiwekhi. I-router ingalungisa le miba ngokulula. Nceda uqaphele ukuba xa usenza unxibelelwano lwee-arhente ezininzi, ukuba umatshini wenyani usetyenziswa njengekhoboka le-ROS, imowudi yayo yenethiwekhi kufuneka imiselwe kwimodi yebhulorho.

Qwalasela iinguqu zemekobume ye-Master/Slave

Emva kokuba zonke iinkosi ze-ROS zonke zikuthungelwano olufanayo, ukuguquguquka kokusingqongileyo kunxibelelwano lwee-arhente ezininzi kufuneka kumiselwe. Lo mahluko wemekobume uqwalaselwe kwifayile ye.bashrc kulawulo olungundoqo. Sebenzisa i gedit ~/.bashrc umyalelo ukuyindulula. Nceda uqaphele ukuba zombini iifayile ze-bashrc zenkosi kunye nekhoboka kunxibelelwano lwee-arhente ezininzi kufuneka ziqwalaselwe. Yintoni ekufuneka itshintshwe ziidilesi ze-IP ekupheleni kwefayile. Imigca emibini ye yi-ROS_MASTER_URI kunye ne-ROS_HOSTNAME, njengoko kubonisiwe kuMfanekiso 2-1-4. I-ROS_MASTER_URI kunye ne-ROS_HOSTNAME ye-ROS inginginya zombini zii-IP zasekuhlaleni. I-ROS_MASTER_URI kwi-ROS ikhoboka .bashrc ifayile idinga ukutshintshelwa kwidilesi ye-IP yomamkeli ngelixa i-ROS_HOSTNAME ihleli njengedilesi ye-IP yendawo.

I-ROS yonxibelelwano lwee-multi-machine ayinyanzelwanga yi-ROS yokukhululwa kwenguqulo. Kwinkqubo yonxibelelwano ngoomatshini abaninzi, umntu kufuneka aqonde oku kulandelayo:

Ukusebenza kwenkqubo yekhoboka ye-ROS kuxhomekeke kwi-ROS master program ye-ROS master device. Inkqubo ye-ROS master kufuneka iqalise kuqala kwisixhobo esiphambili ngaphambi kokwenza inkqubo yekhoboka kwisixhobo sekhoboka.
Iidilesi ze-IP zenkosi kunye noomatshini bekhoboka ekunxibelelaneni koomatshini abaninzi kufuneka babe kwinethiwekhi efanayo. Oku kuthetha ukuba idilesi ye-IP kunye ne-subnet mask iphantsi kwenethiwekhi efanayo.
ROS_HOSTNAME kubume bemeko yefayile yoqwalaselo .bashrc ayikhuthazwa ukuba isebenzise umamkeli walapha. Kuyacetyiswa ukuba usebenzise idilesi ye-IP ethile.
Kwimeko apho idilesi ye-IP yekhoboka ayibekwanga ngokuchanekileyo, isixhobo sekhoboka sisenokufikelela kwi-ROS master kodwa asinakukwazi ukufaka ulwazi lolawulo.
Ukuba umatshini wenyani uthatha inxaxheba kunxibelelwano lweearhente ezininzi, imowudi yayo yenethiwekhi kufuneka imiselwe kwimowudi yebhulorho. I-IP engatshintshiyo ayinakukhethelwa uqhagamshelwano lwenethiwekhi.
Unxibelelwano ngoomatshini abaninzi alukwazi view okanye urhumele kwizihloko zohlobo lwedatha yomyalezo ezingekhoyo ekuhlaleni.
Ungasebenzisa idemo yokulinganisa iTurtle ukuqinisekisa ukuba unxibelelwano phakathi kweerobhothi luphumelele:
- a. Baleka enkosini
  - rescore #launch iinkonzo zeROS
  - rostrum turtles turtlesim_node #launch turtles interface
- b. Baleka kwikhoboka
  - phinda uqhube uturtle_teleop_key #vula indawo yokulawula ikhibhodi yeefudo

Ukuba unako ukuxhaphaza ukunyakaza kwe-turtle kwikhibhodi kwikhoboka, kuthetha ukuba unxibelelwano lwenkosi / ikhoboka lusekwe ngempumelelo.

Uqhagamshelo lweWifi oluzenzekelayo kwiROS

Ezi nkqubo zingezantsi zichaza indlela yokuqwalasela irobhothi ukuba iqhagamshelwe ngokuzenzekelayo kwinethiwekhi yenginginya okanye inethiwekhi yerotha.

Ukuseta uqhagamshelo lweWifi oluzenzekelayo lweJetson Nano

Qhagamshela iJetson Nano usebenzisa isixhobo esikude seVNC okanye ngokuthe ngqo kwiscreen sekhompyuter. Cofa kwi icon ye-wifi kwikona ephezulu ngasekunene emva koko ucofe "Hlela uQhagamshelwano.."
Cofa iqhosha + kuQhagamshelwano lweNethiwekhi:
Ngaphantsi kwefestile ethi "Khetha uhlobo loQhagamshelwano", cofa imenyu eyehlayo kwaye ucofe iqhosha elithi "Yenza...":

KwiPhaneli yoLawulo, cofa Wifi ukhetho. Ngenisa igama le-Wi-Fi ukuze uqhagamshele "kwiGama loQhagamshelwano" nakwiindawo ze-SSID. Khetha u-“Client” kwimenyu eyehlayo ethi “Imowudi” kwaye ukhethe “wlan0” kwimenyu eyehlayo ethi “Isixhobo”.
KwiPhaneli yoLawulo, cofa u-“General” ukhetho kwaye ujonge “Qhagamshela ngokuzenzekelayo kule nethiwekhi…”. Cwangcisa uqhagamshelo oluphambili kwi-1 kwi-"Uqhagamshelo oluphambili lwe-auto-activation". Jonga "Bonke abasebenzisi banokuqhagamshela kule nethiwekhi". Xa ukhetho lusetelwe ku-0 ku-"Uqhagamshelo oluphambili kusetyenziso oluzenzekelayo" kwenye i-wifi, oku kuthetha ukuba le yinethiwekhi ye-wifi ekhethwayo kwixesha elidlulileyo.
Cofa "uKhuseleko lwe-Wi-Fi" kwiPhaneli yoLawulo. Khetha "WPA & WPA2 Personal" kwindawo "yoKhuseleko". Emva koko faka igama lokugqitha le-Wifi kwindawo ethi "Password".

Phawula: Ukuba irobhothi ayikwazi ukudibanisa ngokuzenzekelayo kwinethiwekhi ye-wifi emva kokuqalisa xa i-wifi ibekwe phambili kwi-0, inokubangelwa yingxaki yesignali ye-wifi ebuthathaka. Ukuze unqande le ngxaki, ungakhetha ukucima zonke iinketho wifi ezidityaniswe kwixesha elidlulileyo. Gcina kuphela inethiwekhi ye-wifi eyenziwe ngumamkeli okanye umzila. Cofa kwindawo ethi "IPv4 Useto" kwiphaneli yokulawula useto lwenethiwekhi. Khetha inketho ethi "Manual" kwibala elithi "Indlela". Emva koko nqakraza "Yongeza", gcwalisa idilesi ye-IP yomatshini wamakhoboka kwibala elithi "Idilesi". Gcwalisa "24" kwindawo "Netmask". Gcwalisa icandelo lenethiwekhi ye-IP kwi "Gateway". Guqula idijithi ezintathu zokugqibela zecandelo lenethiwekhi ye-IP ibe "1". Eyona njongo yeli nyathelo kukulungisa idilesi ye-IP. Emva kokuba oku kugqitywe okokuqala, idilesi ye-IP iya kuhlala ingatshintshwanga xa iqhagamshelwa kwi-WIFI enye ngokulandelayo.

Emva kokuba zonke iisetingi ziqwalaselwe, cofa "gcina" ukugcina useto. Emva kokuba ugcino luphumelele, i-robot iya kuxhuma ngokuzenzekelayo kwinethiwekhi yomninimzi okanye i-router xa ivuliwe.

Phawula:

Idilesi ye IP ebekwe apha kufuneka ifane nedilesi ye IP esetwe kwi .bashrc fayile kwiCandelo 2.1.
Idilesi ye-IP yenkosi kunye nekhoboka ngalinye kufuneka libe lodwa.
Iidilesi ze-IP zenkosi kunye nekhoboka kufuneka zibe kwicandelo elifanayo lenethiwekhi.

Kuya kufuneka ulinde umamkeli okanye urutha ukuba athumele umqondiso weWiFi ngaphambi kokuba irobhothi yekhoboka ivulwe kwaye iqhagamshele ngokuzenzekelayo kwinethiwekhi yeWiFi.
Emva kokuba isethingi iqwalaselwe, ukuba i-robot ayikwazi ukudibanisa ngokuzenzekelayo kwi-WiFi xa ivuliwe, nceda uvale kwaye ukhuphe ikhadi lenethiwekhi kwaye uzame ukuxhuma kwakhona.

Ukuseta uqhagamshelo lweWiFi oluzenzekelayo lweRaspberry Pi

Inkqubo yeRaspberry Pi iyafana neJetson Nano.

Ukuseta uqhagamshelo lweWifi oluzenzekelayo lweJetson TX1

Ukuseta kwi-Jetson TX1 kuphantse kufane nakwi-Jetson Nano ngaphandle kweJetson TX1 enye kufuneka ikhethe isixhobo se-"wlan1" kwi "Isixhobo" kwiphaneli yolawulo lwesetingi zenethiwekhi.

I-MULTI-Agent SYNCHRONIZATION SETUP

Kwiprojekthi yokwenziwa kwee-arhente ezininzi, ukusetwa kongqamaniso lwexesha learhente ezininzi linyathelo elibalulekileyo. Kwinkqubo yokwakheka, iingxaki ezininzi ziya kubangelwa ngenxa yexesha lenkqubo ye-asynchronous yerobhothi nganye. Ulungelelwaniso lwexesha le-agent ezininzi luhlukaniswe kwiimeko ezimbini, ezizezi, imeko apho zombini iirobhothi zenkosi kunye nekhoboka ziqhagamshelwe kwinethiwekhi kunye nemeko apho zombini zikhutshiwe kwinethiwekhi.

Uqhagamshelo oluyimpumelelo lwe-master/slave network

Emva kokuba unxibelelwano lweearhente ezininzi luqwalaselwe, ukuba iinkosi kunye noomatshini bekhoboka banokuqhagamshela ngempumelelo kwinethiwekhi, baya kulungelelanisa ixesha lenethiwekhi ngokuzenzekelayo. Kule meko, akukho zenzo ezingakumbi ezifunekayo ukuphumeza ungqamaniso lwexesha.

Ukulungisa ingxaki kunxibelelwano lwenethiwekhi

Emva kokuba unxibelelwano lwe-multi-agent luqwalaselwe, ukuba izixhobo zenkosi kunye nekhoboka azikwazi ukudibanisa ngempumelelo kwinethiwekhi, kuyimfuneko ukuvumelanisa ixesha ngesandla. Siza kusebenzisa umyalelo womhla ukugqiba ukusetwa kwexesha.

Okokuqala, faka isixhobo seterminator. Ukusuka kwisixhobo seterminator, sebenzisa isixhobo sokwahlula iwindow ukubeka iitheminali zolawulo zenkosi kunye nekhoboka kwi-terminal yefestile efanayo (cofa ekunene ukuseta iwindow eyahlulahlula, kwaye ungene kwinkosi kunye noomatshini bekhoboka nge ssh kwiifestile ezahlukeneyo) .

sudo apt-fumana ukufaka isitermina # Khuphela isiterminali ukwahlula ifestile yesiphelo

Cofa iqhosha elingasentla ekhohlo, khetha ukhetho [Ukusasaza kuzo zonke]/[Sasaza konke], kwaye ngenisa lo myalelo ulandelayo. Emva koko sebenzisa isixhobo seterminator ukuseta ixesha elifanayo lenkosi kunye nekhoboka.

usuku lwe-sudo -s "2022-01-30 15:15:00" # Ukuseta ixesha ngesandla

I-MULTI-AGENT ROS PACKAGE

Intshayelelo yePakeji yeROS

Misa igama lekhoboka

Kwi-wheeltec_multi function package, kuyimfuneko ukuseta igama elilodwa kwirobhothi yekhoboka ngalinye ukuze uthintele iimpazamo. Umzekeloample, iNombolo yesi-1 yekhoboka1 kunye neNombolo yesi-2 yekhoboka2, njl. njl. Injongo yokumisela amagama ahlukeneyo kukwenza iqela eliqhuba iinodi kwaye bahlule ngezithuba zamagama ezahlukeneyo. Umzekeloample, isihloko se-radar sekhoboka 1 ngu/slave1/scan, kunye ne-LiDAR node yekhoboka 1 ngu/slave1/laser.

Misa ulungelelwaniso lwamakhoboka

I wheeltec_multi package inokuphumeza ulwakhelo lwesiko. Xa ulwakhiwo olwahlukileyo lufuneka, lungisa nje ulungelelwaniso olufunekayo lweerobhothi zamakhoboka. Slave_x kunye ne-slave_y ngu-x kunye no-y ulungelelaniso lwekhoboka kunye nenkosi njengendawo yokuqala yesalathiso. Umphambili wenkosi yindlela efanelekileyo ye-x coordinate, kwaye icala lasekhohlo liyindlela efanelekileyo ye-y coordinate. Emva kokuba useto lugqityiwe, i-TF yokulungelelanisa ikhoboka1 iya kukhutshwa njengolungelelwaniso olulindelekileyo lwekhoboka. Ukuba kukho inkosi enye kunye namakhoboka amabini, oku kulandelayo kunokusetwa:

Ulwakhiwo oluthe tye: Unokuseta ulungelelwaniso lwekhoboka ekhohlo ukuya kwikhoboka_x:0, khoboka_y: 0.8, kunye nolungelelwaniso lwekhoboka ekunene kwikhoboka_x:0, khoboka_y:-0.8.
Ukwenziwa kweKholamu: Ulungelelwaniso lwekhoboka elinye lunokusetwa ku: khoboka_x:-0.8, khoboka_y:0, kunye nezilungelelanisi zelinye ikhoboka zingasetwa ku: khoboka_x:-1.8, khoboka_y:0.

Ukwakheka konxantathu: Ulungelelwaniso lwekhoboka elinye lunokusetwa ku: khoboka_x:-0.8, ikhoboka_y: 0.8, kunye nolungelelwaniso lwelinye ikhoboka lunokusetwa ku: khoboka_x:-0.8, khoboka_y:-0.8.

Olunye ulwakhiwo lunokwenziwa ngokwemfuneko.

Phawula:

Umgama ocetyiswayo phakathi kweerobhothi ezimbini umiselwe kwi-0.8, kwaye kucetyiswa ukuba ungabi ngaphantsi kwe-0.6. Umgama phakathi kwamakhoboka kunye nenkosi uyacetyiswa ukuba ubekwe ngaphantsi kwe-2.0. Okukhona lithe qelele enkosini, kokukhona liya lisiba likhulu isantya sekhoboka xa inkosi ijika. Ngenxa yokunciphisa isantya esiphezulu, isantya sekhoboka siya kuphambuka ukuba asihambisani neemfuno. Ukwenziwa kwerobhothi kuya kuba ngumbhodamo.

Ukuqaliswa kwesikhundla sekhoboka

Isikhundla sokuqala sekhoboka kukulungelelaniso olulindelekileyo ngokungagqibekanga. Ngaphambi kokuqhuba inkqubo, beka nje irobhothi yekhoboka kufutshane nezilungelelaniso zayo ezilindelekileyo ukugqiba ukuqaliswa. Lo msebenzi uphunyezwa yi-pose_setter node kwifayile ebizwa turn_on_wheeltec_robot.launch kwi wheeltec_multi package, njengoko kubonisiwe kuMfanekiso 4-1-3.

Ukuba umsebenzisi ufuna ukwenza ngokusesikweni indawo yokuqala yekhoboka, kufuneka abeke i-slave_x kunye ne-slave_y ixabiso njengoko kubonisiwe kuMfanekiso 4-1-4 kwi-wheeltec_slave.launch. I-slave_x kunye ne-slave_y ixabiso liya kugqithiselwa kwi-turn_on_wheeltec_robot.launch kwaye yabelwe indawo_yesetter. Beka nje irobhothi kwindawo yesiko ngaphambi kokuqhuba inkqubo.

Ubume besikhundla

Kulwakhiwo lweearhente ezininzi, ingxaki yokuqala ekufuneka isonjululwe kukubekwa kwenkosi kunye nekhoboka. Inkosi iya kwakha imephu ye-2D kuqala. Emva kokudala kunye nokugcina imephu, sebenzisa iphakheji yokukhangela ye-2D kwaye usebenzise i-algorithm yokubeka i-Monte Carlo eguquguqukayo (i-amcl positioning) kwi-package yokuhamba ye-2D ukulungisa indawo ye-master. Ekubeni inkosi kunye namakhoboka akwinethiwekhi efanayo kwaye abelane nomphathi we-node efanayo, inkosi iqalise imephu kwi-package ye-2D yokuhamba, onke amakhoboka angasebenzisa imephu efanayo phantsi komphathi we-node efanayo. Ke ngoko, ikhoboka alidingi ukwenza imaphu. Kwi-wheeltec_slave.launch, sebenzisa i-Monte Carlo positioning (i-amcl positioning), amakhoboka anokuqwalasela izikhundla zawo ngokusebenzisa imephu eyenziwe yinkosi.

Indlela yokudala ukubunjwa kunye nokugcina ukubunjwa

Kwinkqubo yokuqulunqa intshukumo, i-master movement inokulawulwa yi-Rviz, ikhibhodi, i-remote control, kunye nezinye iindlela. Ikhoboka libala isantya salo nge-slave_tf_listener node ukwenzela ukulawula ukuhamba kwayo kunye nokufezekisa injongo yokwakheka. I-slave_tf_listener node inciphisa isantya sekhoboka ukuphepha isantya esiphezulu ngokubala kwe-node, eya kubangela uthotho lweempembelelo. Ixabiso elithile linokuguqulwa kwi wheeltec_slave.launch.

Iiparamitha ezifanelekileyo ze-algorithm yokwakheka zimi ngolu hlobo lulandelayo:

Ulwazi lokuphepha imiqobo

Kwindlela yokwenza izinto ezininzi, inkosi inokusebenzisa i-move_base node ukugqiba ukuphepha umqobo. Nangona kunjalo, ukuqaliswa kwekhoboka akusebenzisi i-move_base node. Ngeli xesha, i-multi_avoidance node kufuneka ibizwe kwiprogram yekhoboka. I-node yokuthintela umqobo yenziwe ngokungagqibekanga kwiphakheji. Ukuba kuyimfuneko, ukuphepha kunokusetwa "kubuxoki" ukukhubaza i-node yokuthintela umqobo.

Ezinye iiparameters ezifanelekileyo zenode yothintelo lomqobo ziboniswe kumzobo ongezantsi, apho i-safe_distance ngumqobo womgama okhuselekileyo, kunye nedanger_distance ngumqobo womgama onobungozi. Xa umqobo ungaphakathi komgama okhuselekileyo kunye nomgama wengozi, ikhoboka lihlengahlengisa indawo yalo ukuze liphephe umqobo. Xa umqobo ungaphakathi kwengozi, ikhoboka liya kuqhuba kude nomqobo.

Inkqubo yokuSebenza

Faka umyalelo wophumezo

Amalungiselelo ngaphambi kokuqalisa ukwenza ii-arhente ezininzi:

Inkosi kunye nekhoboka zidibanisa kwinethiwekhi efanayo kwaye zisete unxibelelwano lwee-agent ezininzi ngokuchanekileyo

Inkosi yakha imephu ye-2D kwangaphambili kwaye iyigcine
Inkosi ibekwe kwindawo yokuqala kwimephu, kwaye ikhoboka libekwe kufutshane nendawo yokuqalisa (indawo yokwenziwa kwekhoboka elingagqibekanga)
Emva kokungena kwi-Jetson Nano/Raspberry Pi ukude, yenza ungqamaniso lwexesha.

Umhla we-sudo -s "2022-04-01 15:15:00"

Inyathelo loku-1: Vula imephu ye-2D evela kumphathi.

roslaunch turn_on_wheeltec_robot navigation.launch

Inyathelo loku-2: Qhuba inkqubo yokwakheka kuwo onke amakhoboka.

roslaunch wheeltec_multi wheeltec_slave.launch

Inyathelo loku-3: Vula i-keyboard control node ukusuka kwinkosi okanye sebenzisa intonga yovuyo ukuze ulawule ukude intshukumo yenkosi.

yazi kwakhona wheeltec_robot_rc keyboard_teleop.launch

Inyathelo loku-4: (Ngokhetho) Jonga iintshukumo zerobhothi esuka eRviz.

rviz

Phawula:

Qinisekisa ukuba ugqibezela umsebenzi wongqamaniso lwexesha phambi kokuba uphumeze inkqubo.
Xa ulawula umphathi we-multi-agent formation, i-angular velocity ayifanele ibe ngokukhawuleza. Isantya somgca esicetyiswayo ngu-0.2m/s, i-angular speed degree ngaphantsi kwe-0.3rad/s. Xa inkosi ijika ijika, okukhona ikhoboka limgama enkosini, kokukhona kufuneka isantya esikhulu. Ngenxa yomda kwisantya somgca kunye nesantya se-angular kwiphakheji, xa imoto yekhoboka ingakwazi ukufikelela kwisantya esifunekayo, ukubunjwa kuya kuba nesiphithiphithi. Lilonke, isantya esigqithileyo somgca singonakalisa ngokulula irobhothi.

Xa inani lamakhoboka lingaphezulu kweyodwa, ngenxa yokunqunyanyiswa kwe-wifi bandwidth ye-ROS host, kulula ukubangela ukulibaziseka okubalulekileyo kunye nokuqhawulwa konxibelelwano lwe-multi-agent. Ukusebenzisa i-router kunokusombulula le ngxaki kakuhle.
Umthi weTF wokwakheka kweerobhothi ezininzi (amakhoboka ama-2) ngu: rqt_tf_tree
Umzobo wobudlelwane be node yolwakhiwo lweerobhothi ezininzi (amakhoboka ama-2) yile: rqt_graph

Amaxwebhu / Izibonelelo

I-ROBOWORKS Robofleet II-ALGORITHMS ZAMA-ALGORITHMS ezininzi [pdf] Incwadi yokusebenzisa
I-Robofleet ii-algorithms ze-Agent ezininzi, i-Robofleet, ii-Algorithms ze-Agent ezininzi, i-Agent Algorithms, i-algorithms

Iimbekiselo

Incwadi yokusebenzisa

I-ROBOWORKS Robofleet II-ALGORITHMS ZAMA-ALGORITHMS ezininzi

Iinkcukacha

Ulwazi lweMveliso

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