机器学习_Wall-Following Robot Navigation Data Set(沿墙壁移动机器人导航数据集)

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Path Planning Robot Navigation

Path Planning Robot NavigationPath planning and robot navigation are crucial aspects of autonomous systems, especially in the field of robotics. The ability of a robot to navigate through its environment and plan its path effectively is essential for its successful operation. This is particularly important in scenarios where the environment is dynamic and constantly changing, such as in outdoor environments or in environments with moving obstacles.One of the key challenges in path planning and robot navigation is the need to balance between exploration and exploitation. On one hand, the robot needs to explore its environment to gather information about the obstacles and potential paths, and on the other hand, it needs to exploit this information to make efficient decisions about its path. This balance is crucial for ensuring that the robot can navigate through its environment effectively while avoiding potential obstacles and hazards.Another important aspect of path planning and robot navigation is the need for robust and adaptive algorithms. The environment in which a robot operates can be highly unpredictable, and the robot needs to be able to adapt to changes in the environment in real-time. This requires the use of algorithms that are not only capable of planning paths based on the current environment but also capable of quickly adapting to changes in the environment.Furthermore, the safety of both the robot and its surroundings is a critical consideration in path planning and robot navigation. The robot needs to be able to navigate through its environment in a way that minimizes the risk of collisions with obstacles or other entities. This requires the use of advanced sensing and perception systems that can accurately detect and track obstacles in the environment, as well as the use of intelligent decision-making algorithms that can prioritize safety in the robot's navigation.Moreover, the efficiency of path planning and robot navigation is also a significant factor to consider. In many real-world applications, such as in industrial settings or in search and rescue missions, the time it takes for a robot to navigate through its environment can have a direct impact on its overall performance. Therefore, the development of efficientpath planning and navigation algorithms is crucial for ensuring that robots can operate effectively in time-critical scenarios.In addition, the scalability of path planning and robot navigation algorithms is an important consideration, particularly in scenarios where multiple robots need to navigate through the same environment. In such cases, the path planning and navigation algorithms need to be able to coordinate the movements of multiple robots to ensure that they can operate collaboratively without interfering with each other's paths.Overall, path planning and robot navigation are complex and multifaceted challenges that require the development of advanced algorithms and technologies. By addressing the balance between exploration and exploitation, the need for robust and adaptive algorithms, the importance of safety and efficiency, and the scalability of the algorithms, researchers and engineers can work towards developing autonomous systems that are capable of navigating through dynamic and challenging environments effectively.。

四川省宜宾市叙州区2025届九年级英语第一学期期末学业水平测试试题含解析

四川省宜宾市叙州区2025届九年级英语第一学期期末学业水平测试试题注意事项：1．答卷前，考生务必将自己的姓名、准考证号、考场号和座位号填写在试题卷和答题卡上。

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将条形码粘贴在答题卡右上角"条形码粘贴处"。

2．作答选择题时，选出每小题答案后，用2B铅笔把答题卡上对应题目选项的答案信息点涂黑；如需改动，用橡皮擦干净后，再选涂其他答案。

答案不能答在试题卷上。

3．非选择题必须用黑色字迹的钢笔或签字笔作答，答案必须写在答题卡各题目指定区域内相应位置上；如需改动，先划掉原来的答案，然后再写上新答案；不准使用铅笔和涂改液。

不按以上要求作答无效。

4．考生必须保证答题卡的整洁。

考试结束后，请将本试卷和答题卡一并交回。

Ⅰ. 单项选择1、How can we improve our environment a lot each of us does something useful for it?A．while B．until C．after D．unless2、It’s very important ______us _____ a secon d language.A．for, to learn B．for, learn C．to, to learn D．to, learn3、(2017·南京中考)—I go swimming every day.—Wow！That's a good ________．It keeps you healthy.A．match B．task C．habit D．dream4、E-tickets will be used for high-speed trains ________ the country in 2019. Passengers can enter the station by simply using their ID card.A．beside B．before C．across D．for5、—Shall we meet at 10 o’clock tomorrow morning?—I won’t be free then .Let’s make it ______day.A．other B．the other C．another D．others6、—Many products made in China are very popular in the United States.—Yeah. Americans can avoid buying Chinese products.A．nearly B．mostly C．hardly D．widely7、There are ________ people in the supermarket. It's so crowded.A．hundred B．hundreds C．hundred of D．hundreds of8、If you are hungry, you ________ line up at the restaurant for a meal. You can order food at Meituan Waimai on you phone.A．can’t B．mustn’t C．shouldn’t D．needn’t9、—I called you last night, but there was no reply.—Oh, sorry. I ________ in the park at that time.A．was walking B．walked C．am walking10、I study five days ____________ week and on Sundays I often play ____________ football.A．/；the B．the；the C．the；a D．a；/Ⅱ. 完形填空11、Ma Huijuan, a 38-year-old farmer from Ningxia, kept writing for many years. And now she is a famous 1Over the years, she has typed two million characters on 2 mobile phones. She wrote many stories in her free time. Ma has become 3 her writing in her village. She organized a study group of more than 30 women and taught them to read and write.Ma had to 4 studying at school when she was 16 years old. But it didn't end her love for 5 . She often borrowed books from her classmates.6 she bought her first mobile phone in 2008, Ma has been writing online. She writes for two or three hours on free days, and only for about five minutes on7 days.In her articles, she mainly describes her daily work 8 a simple but humorous way. Her articles also describe her family, her childhood, the villagers and the beautiful scenery in Ningxia.However. no one could 9 her at first. People said she was doing some meaningless work. Her husband 10 complained she used her mobile phone too often."They didn't understand me until my first article was published. In rural areas, the 11 is that we women do the housework at home, and the men work outside, " she said."As for reading and writing, that is 12 for farmers. But I don' t think so. After finishing my work, I try my best to develop my 13 ."Last October, Ma helped people build a library to 14 them to read books."Reading and writing helped me express my 15 and feelings well. I hope more people would realize the importance of studying and chase(追求) their dreams bravely," she said.1．A．singer B．painter C．reader D．writer2．A．our B．their C．her D．his3．A．bored with B．interested in C．famous for D．worried about4．A．hate B．stop C．keep D．start5．A．reading B．dancing C．drawing D．singing6．A．Because B．Although C．Since D．Before7．A．long B．quiet C．short D．busy8．A．in B．at C．for D．with9．A．understand B．hurt C．leave D．kill10．A．neither B．gladly C．hardly D．also11．A．question B．solution C．tradition D．task12．A．easy B．careless C .impossible D．expensive13．A．interest B．advice C．business D．information14．A．warn B．encourage C．promise D．invite15．A．lessons B．trips C．thoughts D．choicesⅢ. 语法填空12、A robot has started serving customers at a high-tech highway restaurant in Chongqing. After greeting customers at the gate, the robot 1．(name) Amy brings meals to customers. But 2．can a robot avoid walking into customers and the restaurant's human staff while walking? In fact, Amy has 3．in-built navigation system (导航系统) that allows it to choose a proper way to reach a customer's table without any problem. Orders 4．(place) at two tables that double as big touch screens and customers can order food there or simply on their own phones 5．scanning QR code(二维码). After they have ordered their food, diners can pay using a mobile payment app 6．as Alipay or WeChat Pay.While waiting for the orders, customers can use the special tables to play games, read some 7．(news), and check the traffic and weather conditions for their journey ahead.The robot catches everybody’s eyes with 8．(it) human-like appearance. It is really welcomed by customers and the restaurant 9．it not only cuts down much of business cost for the restaurant, but makes diners wait a much 10．(short) time. So the local government is trying to put them into use in the city's other service stations.Ⅳ. 阅读理解A13、Can you imagine a world without the Internet? It’s surprising to think about it.Now, China has more than 162 million Internet users, according to the China Internet Network Information Centre. This is the second highest number of user in the world after the United States. Today, 66%of Chinese “netizens （网民）” are teenagers. “They spend about thirteen hours every week online,” said Qian Hulin, an Internet expert. Doctor Songin Beijing Xuanwu Hospital said about 14% of Chinese netizens who are teens often lasted over ten hours to play online games.The main reasons why teenagers surf the Web are to search for information, to communicate with others and to have fun. On the Internet, teenagers can find out almost anything. And surfing the Web can help students with their homework and widen their knowledge.Li Dong, a teacher at No. 41 Middle School in Shijiazhuang, likes her students to use the Internet. “When we talk in class, students who surf the Net usually know more backgr ound information than the others,” she said.In addition, people can use the Internet to write letters or stories and send emails. Many teens keep in touch with their friends online. It is cheaper than phoning somebody far away and also much quicker.1．_______ has the most Internet users in the world according to the article.A．China B．America C．Canada D．Russia2．There are about _______ Chinese netizens to surf about 13 hours every week.A．107 million old B．22.7 million oldC．107 million young D．22.7 million young3．Song said some teenagers continued _______ more than ten hours.A．playing online games B．searching for informationC．chatting with their friends D．sending emails to others4．Li Dong in No. 41 Middle School likes her students to use the Internet because she ______.A．thinks surfing the net can help students spend less time on homeworkB．thinks her students can get more background information than the othersC．wants her students to talk to her about their hobbies and interestsD．wants to know what her students do and think about at home5．Which way is the cheapest and quickest to learn something about friends far away?A．Giving them a call. B．Going to see them.C．Writing a letter to them. D．Sending emails to them.B14、When I began to move to Auckland to study the law, my mother was a little worried about the uncertainty of living in a place that was so different from India, where we lived. She worried about the shortage of jobs and the cultural differences that I would face.I came to New Zealand in July 2013. I found the people were very nice and supportive. Soon after I arrived, I realized the importance of getting a part time job to make a living.Deciding to do this on my own, I spent a whole day going from door to door for a job. However, I received a little or no reply. This became my daily activity after college for a few weeks.One afternoon, I walked into a building to ask if there were any job chances. The people there were very surprised, and advised me not to continue my job search in that way. As I was about to leave, a secretary in the building came up to me and encouraged me to stay confident. He then offered to take me to the Royal Oak area to search for a job.Along the way, I realized I had run out of copies of my resume (简历). The man stopped at his friend‟s office to make me 15 extra copies. He also gave me tips on dressing and speaking. I handed out my resume and went home. The following day, I received a call from a store in Royal Oak offering me a job.It seemed that the world always gives back to you when you need it. And this time, it was a complete stranger who turned out to be a real blessing (祝福).1．（小题1）The writer moved to Auckland to ______.A．avoid the job shortageB．face the cultural differencesC．start his life in a new placeD．study the law in college2．（小题2）After staying in New Zealand for a short time, the writer realized ______.A．he needed to find a job to make a living.B．people there were not very friendly.C．he should always stay confident.D．it was easy to get a new job.3．（小题3）What is the story mainly about?A．How a secretary offered the writer a job.B．How a secretary turned out to be a real hero.C．How a stranger helped the writer to get a job.D．How the writer made a living in a new country.C15、Buying Is Doing?How important is shopping to you? How much time do you spend buying things? And how much time do you spend organizing these things in your home? In the future, how much time will you spend in movie theaters, at amusement parks, at shopping malls, or at convenience stores? When you add it all up, you will probably see you spend a lot of your life consuming（消费）things. Consuming products is not necessarily bad. However, if we spend too much time doing it, we should look at it carefully.Imagine that you have a week off from school. You don’t have to go to class. However, in this week, you cannot spend any money — no shopping, no movies, no eating out. How would you spend your time?What things would bring you happiness? Perhaps you would take a walk with your best friend. Perhaps you would help a child read. Or you might spend time with your family.When we look back, it is likely that non-consuming experiences like these will be our most important memories. Why? Non-consuming activities are active, not passiv e. They don’t come in a package. You make the experience yourself. For example, each person who reads to a child will have a different experience. The experience changes with the reader, the child, and the book. Similarly, when you have a conversation with a friend, you are actively creating an experience. The conversation that you have with your friend cannot be experienced or recreated by anyone else. However, if you watch a movie with a friend, you will each have a package experience. It requires no action and little interaction between the twoof you.The environment we live in encourages us to have packaged experiences. We feel that we must consume because we believe that buying is doing. However, we can start a personal revolution（变革）against consumerism. How? By consuming less, we can ask ourselves what experiences bring us the greatest satisfaction. Then we can organize our lives so that we have more of those kinds of experiences.1．If consuming products takes too much time, we should ____________.A．spend less money B．think about it carefullyC．organize our things D．go to convenience stores2．According to the passage, the writer believes that _____________.A．we can say no to consumerism by consuming lessB．buying things can bring us the greatest satisfactionC．the environment seldom influences our shopping choicesD．consuming experiences will be our most important memories3．What is the writer’s main purpose in writing this passage?A．To introduce some ways of enjoying our spare time.B．To encourage people to have more active experiences.C．To explain reasons behind people’s shopping behavior.D．To share his personal experience in consuming products.D16、An old man went to live with his son, his daughter-in-law, and a four-year-old grandson. The old man’s hands trembled, his eyesight was very poor, and he couldn’t walk steadily(平稳地). The family ate together nightly at the dinner table. But the elderly grandfather’s shaky hands and failing sight made eating rather difficult. Rice often dropped on the floor.The son and the daughter-in-law became angry with the old man, so they put a small table in the corner. There, the grandfather ate alone, while the rest of the family enjoyed dinner at the table. Since the grandfather had broken a dish or two, his food was served in a wooden bowl.The four-year-old son watched it all in silence. One evening before supper, the father noticed his son playing with a piece of wood on the floor. He asked the child sweetly, “What are you making?” The boy answered, “Oh, I am making a little bowl for you and mama to eat your food from when I grow up.” The four-year-old son smiled and went back to work. The words struck the parents so that they were in silence. Then tears started to stream down their cheeks（脸颊）. Though no word was spoken, both knew what must be done. That evening the husband took grandfather’s hand andgently led him back to the family table.1．Why was the old man’s food served in a wooden bowl?A．Because the wooden bowl was light enough.B．Because the old man had broken a few bowls.C．Because there was only a wooden bowl left.D．Because the son and the daughter-in-law became angry with the old man.2．Why did the husband lead the old man back to the family table?A．Because he realized his mistakes.B．Becaus e the old man didn’t drop rice on the floor any more.C．Because the old man was served in a wooden bowl.D．Because a gentleman led him back to the family table.3．What’s the best title of the passage?A．An old man and his son. B．A couple and their son.C．A wooden bowl. D．A dinner table.E17、1．Which is the cheapest theater?A．Dadi B．Huize C．Hengda2．You can buy a skirt for your mother at _________.A．Tianhong Store B．Kangxing Store C．Dadi3．Which store can you buy pizza?A．Starbucks B．Pizza Hut C．KFCF18、Experts know that a disaster is coming but they do not know when it will happen. They do know that it could cause alot of damage. They think it will be worse than a hurricane. The disaster they are worried about is an earthquake. There is a break in the earth’s crust (外壳). It is called the San Andreas Fault. The San Andreas Fault is in California. Many earthquakes happen along the San Andreas Fault. In 1989 there was a big earthquake on the fault. The earthquake was called the “Loma Prieta Earthquake”. Many people were hurt or died. Many buildings were ruined. Lots of people lost their homes. Roads and bridges were also damaged.A large earthquake could happen in Southern California. Many small earthquakes have happened in the last year. Earthquake experts think that a large earthquake will happen there soon. They think a big earthquake will happen in the next few years.The San Andreas Fault has many power lines stretched across it. There are water channels close to the earthquake fault.A large earthquake in Southern California would destroy energy and water supplies (供应). Lots of people would be without power or water for weeks. Buildings that have not been built strong enough would be destroyed. Not all hospitals would be able to help people who were injured. Many people would die or be homeless.People need to be prepared. They need to know what to do if an earthquake happens. Everyone in California should have a survival kit at home. The emergency kit (应急箱) would include food and water. There should be medication and first aid supplies in the kit. A good survival kit will also have a portable radio, flashlights and spare batteries. All of the supplies in the kit should last at least 3 days.1．We can probably find this passage in .A．a science book B．a sports newspaperC．a travelling magazine D．a detective storybook2．Which of the following isn’t mentioned as a result of the “Loma Prieta Earthquake”?A．Many buildings were ruined.B．Roads and bridges were damaged.C．Many people were hurt or died.D．Lots of animals lost their living areas.3．Which of the following is TRUE according to the passage?A．All of the supplies in the emergency kit will last at most 3 days.B．A large earthquake in Southern California would destroy food supplies.C．A break in the earth’s crust in Ca lifornia is called the San Andreas Fault.D．Lots of people would be without power or water for days after the earthquake.4．The purpose of this passage is to tell people that .A．there will be a terrible earthquake in weeksB．the earthquake may cause such serious resultsC．the coming earthquake will destroy a lot of suppliesD．the earthquake is so terrible that we need to be preparedⅤ.书面表达19、书面表达在学习中, 不良的学习习惯导致学习效率不高。

2023-2024学年新疆乌鲁木齐市高新区(新市区)重点达标名校中考英语适应性模拟试题含答案

2023-2024学年新疆乌鲁木齐市高新区（新市区）重点达标名校中考英语适应性模拟试题含答案考生须知：1．全卷分选择题和非选择题两部分，全部在答题纸上作答。

选择题必须用2B铅笔填涂；非选择题的答案必须用黑色字迹的钢笔或答字笔写在“答题纸”相应位置上。

2．请用黑色字迹的钢笔或答字笔在“答题纸”上先填写姓名和准考证号。

3．保持卡面清洁，不要折叠，不要弄破、弄皱，在草稿纸、试题卷上答题无效。

Ⅰ. 单项选择1、I’d like to go with you, _____________I’m too busy.A．or B．and C．so D．but2、Would you like to go to the museum with me?I’d love to, ______ I’m afraid I have no time.A．but B．and C．or D．so3、Parents must be patient their children.A．at B．about C．with D．to4、The bell rang ________the teacher was explaining the experiment to the students.A．until B．before C．while D．after5、Father’s Day is on _________ Sunday of June.A．three B．the three C．third D．the third6、—I can’t open the window. —Well , let me have a(an) _____.A．hand B．open C．go D．kick7、—Someone the classroom when I passed.—Well, it wasn’t me.A．is cleaning B．has cleaned C．was cleaning D．will clean8、We want students for the school show. If you _________ play the guitar, please talk to Mr. Zhang after school. A．can B．may C．should D．must9、---- David asked______ in China.----- Of course not. Chinese usually shake hands with a lady as a greeting.A．why he can greet a lady by kissing herB．Why he could greet a lady by kissing herC．Whether he can greet a lady by kissing herD．Whether he could greet a lady by kissing her10、Hurry up, __________ we’ll have to wait another two hours for the next train.A．and B．but C．or D．soⅡ. 完形填空11、Joe was a farmer. His farmland was so poor that he hadn’t good harvest for years. “If God let me control the1 , then everything will get better,” he complained, “I know better than God does because I am a clever farmer.”God heard his words. “Well, I will give you one year,” God replied. “You will be in charge of the weather. Let’s see what your crops grow like.”On hearing this, Joe was so 2 that he couldn’t believe what he heard. But he still wanted to have a try. He shouted, “Sunny!” Suddenly the clouds went away.“Unbelievable!” He thought to himself and tried again, “rain!” The sky became cloud y right away and heavy rain poured down.In the following year, he changed the weather between sunny and 3 . Watching his crops growing bigger and bigger, he felt satisfied.When the harvest season came, he went to the field, looking forward to a big harvest. But his heart sank to the bottom when he found his strong crops had not grown any grain（谷粒）at all. Puzzled and 4 , he started crying. Once again, God 5 him.“Don’t you have your wish to control the weather?” God asked again. “Yes, but I just can’t understand it. I have given them what they 6 . How could it be?” Joe 7 . “That’s because you 8 asked for wind, rainstorm, snow or anything that could make the roots stronger. Without strong roots, of course they won’t grow any fruit.” After he realized this, Joe asked God to 9 the power.It turned out that only through life’s challenges, we would succeed in harvest the 10 of life. It takes both ups and downs to get satisfactory results.1．A．time B．world C．weather D．way2．A．surprised B．sorry C．angry D．worried3．A．windy B．rainy C．cloudy D．snowy4．A．excited B．embarrassed C．nervous D．disappointed5．A．refused B．heard C．thanked D．punished6．A．know B．have C．offer D．need7．A．mentioned B．noted C．suggested D．wondered8．A．almost B．never C．always D．just9．A．take back B．take off C．give up D．put out10．A．taste B．money C．fruit D．discoverⅢ. 语法填空12、A robot has started serving customers at a high-tech highway restaurant in Chongqing. After greeting customers atthe gate, the robot 1．(name) Amy brings meals to customers. But 2．can a robot avoid walking into customers and the restaurant's human staff while walking? In fact, Amy has 3．in-built navigation system (导航系统) that allows it to choose a proper way to reach a customer's table without any problem. Orders 4．(place) at two tables that double as big touch screens and customers can order food there or simply on their own phones 5．scanning QR code(二维码). After they have ordered their food, diners can pay using a mobile payment app 6．as Alipay or WeChat Pay.While waiting for the orders, customers can use the special tables to play games, read some 7．(news), and check the traffic and weather conditions for their journey ahead.The robot catches everybody’s eyes with 8．(it) human-like appearance. It is really welcomed by customers and the restaurant 9．it not only cuts down much of business cost for the restaurant, but makes diners wait a much 10．(short) time. So the local government is trying to put them into use in the city's other service stations.Ⅳ. 阅读理解A13、If you watch the sky for about an hour after the sun goes down, you may see some “moving stars”. But they’re not real stars. They’re man-made satellites(人造卫星). And the biggest of all is the International Space Station (ISS). From May to July is the best season to watch the ISS flying over the earth. And people can see it with their eyes.The ISS is the biggest satellite and scientists want to live on it. They think that the best way to learn more about space is to live there.When the space station is finished, it will be like a city in space. People will stay and study there with many of the things they have at home. Laboratories, living rooms and power stations are being built. The ISS is the most expensive space program. Billions of dollars are being spent on it every year.Scientists hope that the ISS will be a stepping stone for future space exploration(探测). “The ISS will help us understand the human body better, explore space and study the earth. It can help us make life on the earth better,” said Kathryn Clark, an ISS scientist.Sixteen countries are part of the program: the US, Russia, Canada, Japan, Brazil and 11 European countries. China isn’t an ISS country, but it has helped with some of the experiments. In 2003, China sent some rice up to the ISS to find out what space would do to it.根据短文内容，选择正确答案。

Quaternion-Based Control Robot Navigation

Quaternion-Based Control Robot Navigation Quaternion-based control for robot navigation is a complex and challenging problem that requires a deep understanding of both robotics and mathematics. This approach to control is based on the use of quaternions, which are a mathematical concept that extends the idea of complex numbers to higher dimensions. By using quaternions, it is possible to represent the orientation of a robot in three-dimensional space in a way that avoids the singularities and discontinuities that can occur when using other representations, such as Euler angles.One of the main advantages of using quaternions for robot navigation is that they provide a more stable and robust representation of orientation compared to other methods. This is particularly important in applications where the robot needs to move through complex and dynamic environments, such as in industrial automation or autonomous vehicles. By using quaternions, it is possible to avoid the problems of gimbal lock and numerical instability that can occur when using other representations of orientation.Another important aspect of quaternion-based control for robot navigation is the ability to seamlessly integrate with sensor data. In order for a robot to navigate effectively, it needs to be able to accurately perceive its environment and react to changes in real-time. By using quaternions, it is possible to combine data from different sensors, such as accelerometers, gyroscopes, and magnetometers, in a way that provides a consistent and accurate representation of the robot's orientation.However, despite the many advantages of quaternion-based control for robot navigation, there are also significant challenges and limitations that need to be addressed. One of the main challenges is the complexity of the mathematical algorithms and computations involved in using quaternions for control. This requires a high level of expertise in both robotics and mathematics, and can be a significant barrier for many engineers and researchers.Another challenge is the need for accurate calibration and synchronization of sensors in order to obtain reliable quaternion data. Any errors or inconsistencies in the sensor data canlead to inaccuracies in the robot's orientation estimation, which can have serious consequences for navigation and control. This requires careful attention to detail and rigorous testing and validation procedures to ensure the reliability of the quaternion-based control system.In addition, there are also practical limitations in terms of the computational resources required for quaternion-based control. The complex mathematical operations involved in using quaternions can be computationally intensive, especially in real-time applications where low latency is critical. This can pose challenges for implementing quaternion-based control on resource-constrained hardware platforms, such as small embedded systems or mobile robots.Despite these challenges and limitations, quaternion-based control for robot navigation holds great promise for the future of robotics. With continued advancements in sensor technology, computational power, and algorithm development, it is likely that many of the current limitations can be overcome. As researchers and engineers continue to explore and innovate in this field, quaternion-based control is expected to play an increasingly important role in enabling robots to navigate and operate effectively in a wide range of complex environments.。

循迹算法原理

循迹算法原理The principle of the line-following algorithm is to use sensors to detect the line on the ground and make adjustments to keep the robot on track.循迹算法的原理是利用传感器检测地面上的线路，并做出调整以保持机器人在轨道上。

There are several different types of line-following algorithms, including the proportional-integral-derivative (PID) algorithm, the Bang-bang algorithm, and the state machine algorithm.有几种不同类型的循迹算法，包括比例-积分-微分（PID）算法，Bang-bang算法和状态机算法。

The PID algorithm uses feedback from the sensors to calculate the robot's position relative to the line and adjust the motors accordingly.PID算法利用传感器的反馈来计算机器人相对于线路的位置，并相应调整电机。

The Bang-bang algorithm, also known as on-off control, simply switches the motors on or off depending on the sensor input.Bang-bang算法，也称为开关控制，根据传感器输入简单地打开或关闭电机。

The state machine algorithm uses a predefined set of states and transitions to determine how the robot should behave based on sensor input.状态机算法使用预定义的状态和转换集来确定机器人应根据传感器输入如何行为。

基于复合控制算法的移动机器人沿墙导航研究

基于复合控制算法的移动机器人沿墙导航研究富志凯;邢建春【摘要】室内复杂环境下,由于超声波传感器测量精度不高、数量有限,导致移动机器人沿墙导航效果不佳,现有的控制算法实现较为复杂.为此,提出一种基于复合控制算法的沿墙导航策略,通过PID控制算法和Bang-Bang控制算法切换,控制移动机器人进行沿墙导航并最终实现室内环境的边缘检测.实际运行实验验证了该方法的可行性和鲁棒性.%The performance of wall-following navigation for mobile robot is not good in indoor complex environment due to the limitation of the ultrasonic sensors in both numbers and metric accuracy, thus the existing control algorithms become complicated in implementation. Therefore this paper proposes a wall-following navigation strategy based on the composite control algorithm. By switching between the PID control algorithm and the Bang-Bang control algorithm, the mobile robot can be controlled to realise the wall-following navigation and achieve the edge detection in indoor environment. Practical operation experiment proves the effectiveness and robustness of the designed method.【期刊名称】《计算机应用与软件》【年(卷),期】2012(029)009【总页数】4页(P234-236,277)【关键词】移动机器人;沿墙导航;复合控制;边缘检测【作者】富志凯;邢建春【作者单位】解放军理工大学工程兵工程学院江苏南京210007;解放军理工大学工程兵工程学院江苏南京210007【正文语种】中文【中图分类】TP242.60 引言在室内结构化环境中，长墙是普遍存在的环境特征，因此移动机器人沿墙运动就成为一种即简单又经济实用的导航方法。

Slamtec RPLIDAR A2 360度激光雷达扫描仪产品说明

RPLIDAR A2 2016-10-28 rev.1.0Low Cost 360 Degree Laser Range ScannerIntroduction and DatasheetModel: A2M5A2M6OPTMAG 4KCONTENTS (1)INTRODUCTION (3)S YSTEM CONNECTION (4)M ECHANISM (5)S AFETY AND S COPE (6)D ATA O UTPUT (6)H IGH S PEED S AMPLING P ROTOCOL AND C OMPATIBILITY (7)A PPLICATION S CENARIOS (8)SPECIFICATION (9)M EASUREMENT P ERFORMANCE (9)L ASER P OWER S PECIFICATION (9)O PTICAL W INDOW (10)C OORDINATE S YSTEM D EFINITION OF S CANNING D ATA (10)C OMMUNICATION INTERFACE (11)MISC (14)SELF-PROTECTION AND STATUS DETECTION (15)SDK AND SUPPORT (16)MECHANICAL DIMENSIONS (17)REVISION HISTORY (18)APPENDIX (19)I MAGE AND T ABLE I NDEX (19)The RPLIDAR A2 is the next generation low cost 360 degree 2D laser scanner (LIDAR) solution developed by SLAMTEC. It can take up to 4000 samples of laser ranging per second with high rotation speed. And equipped with SLAMTEC patented OPTMAG technology, it breakouts the life limitation of traditional LIDAR system so as to work stably for a long time.RPLIDAR A2M5/A2M6 is the enhanced version of 2D laser range scanner(LIDAR). The system can perform 2D 360-degree scan within a 16-meter range. The generated 2D point cloud data can be used in mapping, localization and object/environment modeling.The typical scanning frequency of the RPLIDAR A2 is 10hz (600rpm). Under this condition, the angular resolution will be 0.9°. And the actual scanning frequency can be freely adjusted within the 5-15hz range according to the requirements of users.The RPLIDAR A2 adopts the low cost laser triangulation measurement system developed by SLAMTEC, which makes the RPLIDAR A2 has excellent performance in all kinds of indoor environment and outdoor environment without direct sunlight exposure. Meanwhile, before leaving the factory, every RPLIDAR A2 haspassed the strict testing to ensure the laser output power meet the standards of FDA Class I.System connectionThe RPLIDAR A2 consists of a range scanner core and the mechanical powering part which makes the core rotate at a high speed. When it functions normally, the scanner will rotate and scan clockwise. And users can get the range scan data via the communication interface of the RPLIDAR and control the start, stop and rotating speed of the rotate motor via PWM.Range Scanner CoreCommunication andPower Interface MechanicalPowering PartFigure 1-1 RPLIDAR System CompositionThe RPLIDAR A2 comes with a rotation speed detection and adaptive system. The system will adjust the angular resolution automatically according to the actual rotating speed. And there is no need to provide complicated power system for RPLIDAR. In this way, the simple power supply schema saves the BOM cost. If the actual speed of the RPLIDAR is required, the host system can get the related data via communication interface.The detailed specification about power and communication interface can be found in the following sections.MechanismThe RPLIDAR A2 is based on laser triangulation ranging principle and adopts the high-speed vision acquisition and processing hardware developed by SLAMTEC. The system ranges more than 4000 times per second.dFigure 1-2 The RPLIDAR Working SchematicDuring every ranging process, the RPLIDAR emits modulated infrared laser signal and the laser signal is then reflected by the object to be detected. The returning signal is then sampled by vision acquisition system in RPLIDAR and the DSP embedded in RPLIDAR starts processing the sample data and outputs distance value and angle value between object and RPLIDAR via communication interface.When drove by the motor system, the range scanner core will rotate clockwise and perform the 360-degree scan for the current environment.Figure 1-3 The Obtained Environment Map from RPLIDAR ScanningSafety and ScopeThe RPLIDAR A2 system uses a low power infrared laser as its light source, and drives it by using modulated pulse. The laser emits light in a very short time frame which can ensure its safety to human and pets, and it reaches Class I laser safety standard.The modulated laser can effectively avoid the interference from ambient light and sunlight during ranging scanning process, which makes RPLIDAR work excellent in all kinds of indoor environment and outdoor environment without sunlight.Data OutputDuring the working process, the RPLIDAR will output the sampling data via the communication interface. And each sample point data contains the information in the following table. If you need detailed data format and communication protocol, please contact SLAMTEC.*Note ：The LIDAR scan image is not directly relative to the environment showed here. Illustrative purpose only.Class IFigure 1-4 The RPLIDAR Sample Point Data InformationFigure 1-5 The RPLIDAR Sample Point Data FramesThe RPLIDAR outputs sampling data continuously and it contains the sample point data frames in the above figure. Host systems can configure output format and stop RPLIDAR by sending stop command. For detailed operations please contact SLAMTEC.High Speed Sampling Protocol and CompatibilityThe RPLIDAR A2 adopts the newly extended high speed sampling protocol for outputting the 4000 times per second laser range scan data. Users are required to update the matched SDK or modify the original driver and use the new protocol to use the 4000 times per second mode of RPLIDAR A2. Please check the related protocol documents for details.The RPLIDAR A2 is compatible with all the communication protocols of previous versions. Users can directly replace the previous RPLIDAR with RPLIDAR A2 and use it in the original system. But in this scenario, the RPLIDAR A2 will work in compatible mode and the system will take range 2000 times per second.Data TypeUnitDescriptionDistance mm Current measured distance value between the rotating core of the RPLIDAR and the sampling point Heading degree Current heading angle of the measurement Start Flag (Bool) Flag of a new scanChecksumThe Checksum of RPLIDAR return data…(d ሾn −1ሿ,θሾn −1ሿ)(d ሾn ሿ,θሾn ሿ) (d ሾ0ሿ,θሾ0ሿ) (d ሾ1ሿ,θሾ1ሿ)…Start FlagA new scanApplication ScenariosThe RPLIDAR can be used in the following application scenarios:o General robot navigation and localizationo Environment scanning and 3D re-modelingo Service robot or industrial robot working for long hourso Home service /cleaning robot navigation and localization o General simultaneous localization and mapping (SLAM)o Smart toy’s localization and obstacle avoidanceMeasurement Performance●For Model A2M5/A2M6 OnlyFigure 2-1 RPLIDAR PerformanceNote: the triangulation range system resolution changes along with distance. Laser Power SpecificationFigure 2-2 RPLIDAR Optical SpecificationNote: the laser power listed above is the peak power and the actual average power is much lower than the value.Optical WindowTo make the RPLIDAR A2 working normally, please ensure proper space to be left for its emitting and receiving laser lights when designing the host system. The obscuring of the host system for the ranging window will impact the performance and resolution of RPLIDAR A2. If you need cover the RPLIDAR A2 with translucent materials or have other special needs, please contact SLAMTEC about the feasibility.Optical WindowFigure 2-3 RPLIDAR Optical WindowYou can check the Mechanical Dimensions chapter for detailed window dimensions.Coordinate System Definition of Scanning DataThe RPLIDAR A2 adopts coordinate system of the left hand. The dead ahead of the sensors is the x axis of the coordinate system; the origin is the rotating center of the range scanner core. The rotation angle increases as rotating clockwise. The detailed definition is shown in the following figure:Figure 2-4 RPLIDAR Scanning Data Coordinate System DefinitionCommunication interfaceThe RPLIDAR A2 uses separate 5V DC power for powering the range scanner core and the motor system. And the standard RPLIDAR A2 uses XH2.54-5P male socket. Detailed interface definition is shown in the following figure:Figure 2-5 RPLIDAR Power Interface Definitionθ ሾ0,360)Interface LeadRedXH2.54-5PVCCTXRXGND MOTOCTLFigure 2-6 RPLIDAR External Interface Signal DefinitionPower Supply InterfaceRPLIDAR A2 takes the only external power to power the range scanner core and the motor system which make the core rotate. To make the RPLIDAR A2 work normally, the host system needs to ensure the output of the power and meet its requirements of the power supply ripple.Figure 2-7 RPLIDAR Power Supply SpecificationData communication interfaceThe RPLIDAR A2 takes the 3.3V-TTL serial port (UART) as the communication interface. The table below shows the transmission speed and the protocol standard.Figure 2-8 RPLIDAR Serial Port Interface SpecificationsNote: the RX input signal of A2M5/A2M6 is current control type. In order to ensure the reliable signal identification inside the system, the actual control node voltage of this pin will not be lower than 1.6v. Scanner Motor ControlThe RPLIDAR A2 is embedded with a motor driver which has speed tuning feature. Users can control the start, the stop and the rotating speed for the motor via MOTOCTL in the interface. MOTOCTL can be supplied using PWM signal with special frequency and duty cycle, and in this mode, the rotating speed is decided by the duty cycle of the input MOTOCTL PWM Signal.The following table describes the requirement for the input PWM signal of MOTOCTL:Figure 2-9 RPLIDA Specification for PWM Signal of MOTOCTLNote: the typical value is tested when the scanner rotating frequency is 10Hz. With the same rotating speed, the PWM duty cycle of every RILIDAR A2 may vary slightly. If a precise rotating speed is required, users can perform a closed-loop control.If the host system only need to control the start and stop of the motor, please use the direct current signal in high level and low level to drive MOTOCTL. Under this condition, when the MOTOCTL is the low level signal, the RPLIDAR A2 will stop rotating and scanning; when the MOTOCTL is the high level signal, the RPLIDAR A2 will rotated at the highest speed.MISCFor Model A2M5/A2M6 OnlyFigure 2-10 RPLIDAR MISC SpecificationTo ensure the laser of RPLIDAR always working in the safety range (<3mW) and avoid any other damage caused by device, the RPLIDAR comes with laser power detection and sensor healthy check feature. It will shut down the laser and stop working automatically when any of the following errors has been detected.o Laser transmit power exceeds limited valueo Laser cannot power on normallyo Scan speed of Laser scanner system is unstableo Scan speed of Laser scanner system is too slowo Laser signal sensor works abnormallyThe host systems can check the status of the RPLIDAR via the communication interface and restart the RPLIDAR to try to recover work from error.SLAMTEC provides debug GUI tool and SDK (available for Windows, x86 Linux and Arm Linux) to speed up the product development for users. Please contact SLAMTEC for detail information.Figure 4-1 The Debugging GUI of RPLIDARThe mechanical dimensions of the RPLIDAR A2 are shown as below:Figure 5-1 RPLIDAR Mechanical DimensionsNote: the 4 * M3 screws in the bottom should be no longer than 4mm, or the internal module would be damaged.Image and Table IndexF IGURE 1-1RPLIDAR S YSTEM C OMPOSITION (4)F IGURE 1-2T HE RPLIDAR W ORKING S CHEMATIC (5)F IGURE 1-3T HE O BTAINED E NVIRONMENT M AP FROM RPLIDAR S CANNING (6)F IGURE 1-4T HE RPLIDAR S AMPLE P OINT D ATA I NFORMATION (7)F IGURE 1-5T HE RPLIDAR S AMPLE P OINT D ATA F RAMES (7)F IGURE 2-1RPLIDAR P ERFORMANCE (9)F IGURE 2-2RPLIDAR O PTICAL S PECIFICATION (9)F IGURE 2-3RPLIDAR O PTICAL W INDOW (10)F IGURE 2-4RPLIDAR S CANNING D ATA C OORDINATE S YSTEM D EFINITION (11)F IGURE 2-5RPLIDAR P OWER I NTERFACE D EFINITION (11)F IGURE 2-6RPLIDAR E XTERNAL I NTERFACE S IGNAL D EFINITION (12)F IGURE 2-7RPLIDAR P OWER S UPPLY S PECIFICATION (12)F IGURE 2-8RPLIDAR S ERIAL P ORT I NTERFACE S PECIFICATIONS (13)F IGURE 2-9RPLIDA S PECIFICATION FOR PWM S IGNAL OF MOTOCTL (13)F IGURE 2-10RPLIDAR MISC S PECIFICATION (14)F IGURE 4-1T HE D EBUGGING GUI OF RPLIDAR (16)F IGURE 5-1RPLIDAR M ECHANICAL D IMENSIONS (17)。

机器学习_Wall-Following Robot Navigation Data Set(沿墙壁移动机器人导航数据集)

Wall-Following Robot Navigation Data Set(沿墙壁移动机器人导航数据集)数据摘要：The data were collected as the SCITOS G5 robot navigates through the room following the wall in a clockwise direction, for 4 rounds, using 24 ultrasound sensors arranged circularly around its 'waist'.中文关键词：数据,机器人,导航,沿墙壁移动,传感器,英文关键词：data,robot,navigate,Wall-Following,sensor,数据格式：TEXT数据用途：Classification数据详细介绍：Wall-Following Robot Navigation Data Data SetAbstract: The data were collected as the SCITOS G5 robot navigates through the room following the wall in a clockwise direction, for 4 rounds, using 24 ultrasound sensors arranged circularly around its 'waist'.Source:(a) Creators: Ananda Freire, Marcus Veloso and Guilherme BarretoDepartment of Teleinformatics EngineeringFederal University of CearáFortaleza, Ceará, Brazil(b) Donors of database: Ananda Freire (anandalf '@' )Guilherme Barreto (guilherme '@' deti.ufc.br)Data Set Information:The provided files comprise three different data sets. The first one contains the raw values of the measurementsof all 24 ultrasound sensors and the corresponding class label (see Section 7). Sensor readings are sampled at arate of 9 samples per second.The second one contains four sensor readings named 'simplified distances' and the corresponding class label (see Section 7). These simplified distances are referred to as the'front distance', 'left distance', 'right distance' and 'back distance'. They consist, respectively, of the minimum sensor readings among those within 60 degree arcs located at the front, left, rightand back parts of the robot.The third one contains only the front and left simplified distances and the corresponding class label.It is worth mentioning that the 24 ultrasound readings and the simplified distances were collected at the same time step, so each file has the same number of rows (one for each sampling time step).The wall-following task and data gathering were designed to test the hypothesis that this apparently simple navigation task is indeed a non-linearly separable classification task. Thus, linear classifiers, such as the Perceptron network, are not able to learn the task and command the robot around the room without collisions. Nonlinear neural classifiers, such as the MLP network, are able to learn the task and command the robot successfully without collisions.If some kind of short-term memory mechanism is provided to the neural classifiers, their performances are improved in general. For example, if past inputs are provided together with current sensor readings, even the Perceptron becomes able to learn the task and command the robot succesfully. If a recurrent neural network, such as the Elman network, is used to learn the task, the resulting dynamical classifier is able to learn the task using less hidden neurons than the MLP network.Files with different number of sensor readings were built in order to evaluate the performance of the classifiers with respect to the number of inputs.Attribute Information:Number of Attributes-- sensor_readings_24.data: 24 numeric attributes and the class.-- sensor_readings_4.data: 4 numeric attributes and the class.-- sensor_readings_2.data: 2 numeric attributes and the class.For Each Attribute:-- File sensor_readings_24.data:1. US1: ultrasound sensor at the front of the robot (reference angle: 180°) - (numeric: real)2. US2: ultrasound reading (reference angle: -165°) - (numeric: real)3. US3: ultrasound reading (reference angle: -150°) - (numeric: real)4. US4: ultrasound reading (reference angle: -135°) - (numeric: real)5. US5: ultrasound reading (reference angle: -120°) - (numeric: real)6. US6: ultrasound reading (reference angle: -105°) - (numeric: real)7. US7: ultrasound reading (reference angle: -90°) - (numeric: real)8. US8: ultrasound reading (reference angle: -75°) - (numeric: real)9. US9: ultrasound reading (reference angle: -60°) - (numeric: real)10. US10: ultrasound reading (reference angle: -45°) - (numeric: real)11. US11: ultrasound reading (reference angle: -30°) - (numeric: real)12. US12: ultrasound reading (reference angle: -15°) - (numeric: real)13. US13: reading of ultrasound sensor situated at the back of the robot (reference angle: 0°) - (numeric: real)14. US14: ultrasound reading (reference angle: 15°) - (numeric: real)15. US15: ultrasound reading (reference angle: 30°) - (numeric: real)16. US16: ultrasound reading (reference angle: 45°) - (numeric: real)17. US17: ultrasound reading (reference angle: 60°) - (numeric: real)18. US18: ultrasound reading (reference angle: 75°) - (numeric: real)19. US19: ultrasound reading (reference angle: 90°) - (numeric: real)20. US20: ultrasound reading (reference angle: 105°) - (numeric: real)21. US21: ultrasound reading (reference angle: 120°) - (numeric: real)22. US22: ultrasound reading (reference angle: 135°) - (numeric: real)23. US23: ultrasound reading (reference angle: 150°) - (numeric: real)24. US24: ultrasound reading (reference angle: 165°) - (numeric: real)25. Class:-- Move-Forward-- Slight-Right-Turn-- Sharp-Right-Turn-- Slight-Left-Turn-- File sensor_readings_4.data:1. SD_front: minimum sensor reading within a 60 degree arc located at the front of the robot - (numeric: real)2. SD_left: minimum sensor reading within a 60 degree arc located at the left of the robot - (numeric: real)3. SD_right: minimum sensor reading within a 60 degree arc located at the right of the robot - (numeric: real)4. SD_back: minimum sensor reading within a 60 degree arc located at the back of the robot - (numeric: real)5. Class:-- Move-Forward-- Slight-Right-Turn-- Sharp-Right-Turn-- Slight-Left-Turn-- File sensor_readings_2.data:1. SD_front: minimum sensor reading within a 60 degree arc located at the front of the robot - (numeric: real)2. SD_left: minimum sensor reading within a 60 degree arc located at the left of the robot - (numeric: real)3. Class:-- Move-Forward-- Slight-Right-Turn-- Sharp-Right-Turn-- Slight-Left-TurnRelevant Papers:Ananda L. Freire, Guilherme A. Barreto, Marcus Veloso and Antonio T. Varela (2009), 'Short-Term Memory Mechanisms in Neural Network Learning of Robot Navigation Tasks: A Case Study'. Proceedings of the 6th Latin American Robotics Symposium (LARS'2009),Valparaíso-Chile, pages 1-6, DOI: 10.1109/LARS.2009.5418323Citation Request:Please refer to the Machine Learning Repository's citation policy数据预览：点此下载完整数据集。

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