Kirjeldus:

Sense-Plan-Act Enamustel robotite programmide ehitusi saab jaotada kolmeks primitiiviks. Robot kasutab Sensoreid et kontrollida oma Actuatoreid. Robotite paradigmad (suhted primitiivide vahel) Hierarhiline paradigma Hierarhilise paradigma eelis on primitiivide vaheline kord. Suudab töötada ainult suletud maailmaga keskkonnas. Häirivate faktoritega selline süsteem arvestada ei suuda. Halvad küljed…

Kirjeldus:

Sensors Sensors are classified as proprioceptive or exteroceptive and exteroceptive sensors are further classified as active or passive. A proprioceptive sensor measures something internal to the robot itself. Themost familiar example is a cars speedometer which measures the cars speed by counting rotations of the wheels. An exteroceptive sensor measures something external to the robot such as th…

Kirjeldus:

Mapping-Based Navigation Dijkstras Algorithm Dijkstra described his algorithm for a discrete graph of nodes and edges. Here we describe it for a grid map of cells (Fig. 10.1a). Cell S is the starting cell of the robot and its task is to move to the goal cell G. Cells that contain obstacles are shown in black. The robot can sense and move to a neighbor of the cell c it occupies. For simplicity we …

Kirjeldus:

Mapping Orienting We are used to graphical maps that are printed on paper or more commonly these days displayed on computers and smartphones. A robot however needs a non-visual representation of a map that it can store in its memory. There are two techniques for storing maps discrete maps (also called grid maps) and continuous maps. Powerful computers are needed to use continuous maps for this re…