АЛГОРИТМЫ ДВИЖЕНИЯ РОБОТА LEGO MINDSTORMS NXT ПО

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(
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-
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, 1977. 288 .
.:
/
1981. 296 .
. .
. .,
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.
.:
.
. .,
.
.
,
.:
, 2002. 157 .
. .
.
:
. . .
, 2003. 267 .
Kecman V. Learning and Soft Computing: support vector machines, neural
netw orks and fuzzy logic models. The MIT Press, 2001. P. 567.
Passino K. M., Yurkovich S. Fuzzy Control. Addison-Wesley . 1997. P. 522.
.,
.,
.
,
. .: «
»,
2004. 452 .
/
. .
, .
. .
. .:
, 1993. 368 .
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621.865.8
.
LEGO MINDSTORMS NXT
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Lego Mindstorms NXT
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Lego Mindstorms RCX,
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Lego Mindstorms NXT
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92 ———————————————————————————————————
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. 2011.
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3.
Lego Mindstorms NXT
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.
e=S1-grey
,
,
–
.
uk=k2*(e*e*e),
k2 0.01
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upk = k1*e + k2*e*e*e
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grey
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s1,
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left=s1;
right=s2;
while(true)
{ up=k1*((s1-left)-(s2-right));
Motor[MotorB]=50+up;
Motor[MotorC]=50-up;
wait1msec(1);}
:
.
s1
,
grey,
.
.
–
-
«
»
.
(s1 – grey).
–
,
.
UP = k * (s1 – grey).
-
.
:
k–
grey
-
.
s1,
while(true)
{up=k*(s1-grey);
motor[MotorB]=50+up;
motor[MotorC]=50–up;
wait1msec(1);}
e,
eold
.
1.
2.
-
-
.
:
left=s1; right=s2; eold=0;
while(true)
{ e=(s1-left)-(s2-right);
u=k1*e+k2*(e-eold); eold=e;
Motor[MotorB]=50+u; Motor[MotorC]=50-u;
wait1msec(1);}
ud=k*(S1-Sold)/ t,
S1 –
; Sold –
.
upd = up+ud
,
,
upd = k1*(S1-grey) + k2*(S1-Sold)
,
k2
k1.
-
,
,
:
. . .
. 2011.
3.
———————————————————————————————————
93
.
2.
:
:
-
«
»
4.
center=S3
5.
6.
k1=1+(S3-center)/3
U=k1*e
:
left=s1; right=s2; center=s3;
while(true)
{ e=(s1-left)-(s2-right);
k1=1+(s3-center)/10;
u=k1*e;
Motor[MotorB]=50+u; Motor[MotorC]=50-u;
wait1msec(1);}
:
100%
-
,
-
7.
8.
1.
2.
.
.
,
,
,
,
,
.
51086-97.
.
3.
4.
5.
.
1.
3.
-
6.
7.
8.
2006.
.
.
.:
.
.
. . 1:
= The Art of Computer Programming. Vol. 1. Fundamental
Algorithms. 3. .:
, 2006. . 720.
.
.
:
.
. 3. .:
, 2004. 880 .
–
,
.
,
,
. URL:http://w w w .my robot.ru/articles/lego_line.php
: 03.04.2011).
.
:
/ .
.
.
;
.
.
. .:
, 2005.
,
.
. URL:http://automation-sy stem.ru/
reguly ator/ty pe-of-control.html (
: 03.04.2011).
:
= INTRODUCTION TO ALGORITHMS /
.
,
.
,
.
,
. 2. .:
, 2006. . 1296.
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, Charles I. Layzerson, Ronald L.
, Clifford Stein
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.
94 ———————————————————————————————————
. . .
. 2011.
3.