Mobile Robots book 2011 Part 10

Tham khảo tài liệu 'mobile robots book 2011 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 216 Mobile Robots - State of the Art in Land Sea Air and Collaborative Missions Fig. 5. D-Optimum trajectories of mobile actuators for one stationary sensor Fig. 6. D-Optimum trajectories of mobile actuators for three stationary sensors Fig. 7. D-Optimum trajectories of mobile actuators for one moving sensor Fig. 8. D-Optimum trajectories of mobile actuators for two moving sensors Optimal Real-Time Estimation Strategies for a Class of Cyber-Physical Systems Using Networked Mobile Sensors and Actuators 217 As expected for all cases the performance criterion value decreases as the number of actuator increases. We can also notice that both the mobility population and location of the sensors have a direct impact on the performance of the strategy. Therefore we can suppose the existence of an optimal combination of sensor and actuator trajectories. Optimal Sensor Trajectories Online Results In this section we focus our attention on the performance of the online methodology described in Section 5. The experiment is run for different noise statistics and for each case results are given in the form of sensor trajectories and parameter estimates. For case 1 Ơ for case 2 Ơ and for case 3 Ơ . In all cases we consider 3 mobile sensors. The control of the mobile sensors u is limited between and . All three sensors have fixed initial positions X1 0 x2 0 and X3 0 . The results for the previously defined case are respectively given in Figure 9. for Case 1 in Figure 10 for Case 2 and in Figure 11 for Case 3. For each figure subfigure a gives the sensor trajectories the evolution of the estimates is shown in b and the measurements are given in c . Fig. 9. Closed-loop D-Optimum experiment for Ơ . From left to right sensor trajectories parameter estimates and sensor measurements Fig. 10. Closed-loop D-Optimum experiment for Ơ . From left to right sensor trajectories parameter estimates and sensor measurements 218 Mobile

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