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原创发表于 DavidZ Blog，遵循 CC 4.0 BY-NC-SA 版权协议，转载请附上原文出处链接及本声明。
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敬告
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本博客仅供参考，请不要抄袭。
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¶前言
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这是 ANU COMP231,">
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<h3 class="subtitle">ANU COMP2310(2019) Assignment 1</h3>
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<a href="/categories/Study"><b>「
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</b>STUDY<b> 」</b></a>
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一月 11, 2020
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<h3 class="post-title animated fadeInDown"><a href="/anu-comp2310-assignment1/" title="ANU COMP2310(2019) Assignment 1" class="">ANU COMP2310(2019) Assignment 1</a>
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16 mins.
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<p>原创发表于 <a href="https://blog.davidz.cn">DavidZ Blog</a>，遵循 <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode" target="_blank" rel="noopener">CC 4.0 BY-NC-SA</a> 版权协议，转载请附上原文出处链接及本声明。</p>
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<blockquote>
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<p><strong>敬告</strong></p>
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<div style="color: red">本博客仅供参考，请不要抄袭。</div>
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</blockquote>
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<h2 id="前言"><a class="header-anchor" href="#前言">¶</a>前言</h2>
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<p>这是 ANU <a href="http://courses.cecs.anu.edu.au/courses/COMP2310/" target="_blank" rel="noopener">COMP2310</a>的第一次大作业，历时一个月左右，也是这个学期我写的最认真的一次作业，所以在博客搭建伊始，我先把这个记录下来。</p>
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<h2 id="问题"><a class="header-anchor" href="#问题">¶</a>问题</h2>
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<p>根据<a href="https://davidz-blog.oss-cn-beijing.aliyuncs.com/asset/Assignment1.pdf" target="_blank" rel="noopener">Assignment 1 PDF</a>中的描述，大概的意思就是在三维空间中有许多的<code>车</code>，具有速度和加速度（都是三维向量），而且不管是否加速，都会消耗一定的能量，当然加速也会加快能量的消耗。然后就是有一个或多个<code>能量球</code>，当然也是在运动中的，同样具有速度和加速度。当<code>车</code>和<code>能量球</code>靠近的时候，<code>车</code>能够获取到<code>能量球</code>的信息（加速度，速度，位置），并且加满能量，而当<code>车</code>与<code>车</code>靠近的时候，能够互相交换一次信息，这个信息的内容是自己定义的。<code>车</code>在能量耗尽后就消失了，而我们需要做的就是在一定的时间内，保证尽可能多的<code>车</code>存活。</p>
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<h2 id="分析"><a class="header-anchor" href="#分析">¶</a>分析</h2>
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<p>其实这个问题最关键的地方在于，没有一个中央的控制节点，也就是说对于每一个<code>车</code>来说都是完全平等且独立的。所以我们需要他们能够尽可能的一直处在能够交流的状态，并且都能知道<code>能量球</code>在哪里。</p>
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<blockquote>
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<p><strong>注意</strong><br>
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这个问题在没有中央控制时<strong>不存在</strong>最优解，我们只能无线接近最优解。<br>
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我采用的是<strong>球形模型</strong>，这个模型参考于这次作业的 <a href="https://cs.anu.edu.au/courses/comp2310/1-Labs-Assignments.html" target="_blank" rel="noopener">Examples</a>。<br>
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在和我的同学互相交流时，这个模型是最普遍的，解决方案是最多的，效果也是相对最好的。</p>
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</blockquote>
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<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/3D%E7%90%83%E5%BD%A2%E6%A8%A1%E5%9E%8B-1599486499.png" alt="3D球形模型"></p>
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<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/2D%E7%90%83%E5%BD%A2%E6%A8%A1%E5%9E%8B-1599486500.png" alt="2D球形模型"></p>
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<p>球形模型设计的两大重点是：</p>
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<ol>
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<li>所有的<code>车</code>都均匀平等地分布在球面上（球面是个相对概念，可以是球壳？？？）。</li>
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<li>所有的<code>车</code>都能随时交流，也就是说大家形成一个通讯网络。</li>
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</ol>
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<h2 id="实现"><a class="header-anchor" href="#实现">¶</a>实现</h2>
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<blockquote>
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<p><strong>注意</strong><br>
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所有的 Ada 代码都是示意性的，有可能不能直接在项目中使用。</p>
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</blockquote>
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<h3 id="Stage-A-B"><a class="header-anchor" href="#Stage-A-B">¶</a>Stage A&B</h3>
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<p>这个阶段中，能量球只有一个，我们让所有的<code>车</code>都围绕这个能量球运动来实现一个基本的球形模型。</p>
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<h4 id="基本程序结构（Basic-Program-Structure）"><a class="header-anchor" href="#基本程序结构（Basic-Program-Structure）">¶</a>基本程序结构（Basic Program Structure）</h4>
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<p>程序基本的结构是一个死循环，每次循环分为 4 个步骤：</p>
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<ol>
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<li>判断<code>能量球</code>信息</li>
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<li>发送信息</li>
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<li>接受信息</li>
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<li>设置目的地和油门</li>
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</ol>
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<h4 id="消息结构（Message-Structure）"><a class="header-anchor" href="#消息结构（Message-Structure）">¶</a>消息结构（Message Structure）</h4>
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<p>最基础的消息需要包括：</p>
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<ol>
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<li><code>能量球</code>的信息</li>
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<li>获得<code>能量球</code>信息的时间戳</li>
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</ol>
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<h4 id="中央控制（Central-Control）"><a class="header-anchor" href="#中央控制（Central-Control）">¶</a>中央控制（Central Control）</h4>
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<p>允许中央控制是 Stage 1 中的条件，我在作业中跳过了这一部分，因为</p>
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<ol>
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<li>在允许中央控制时，该问题存在最优解，该最优解应该是一个数学问题，对我来说难度过大。</li>
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<li>后面的 Stage 2,3,4 均不允许中央控制。</li>
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</ol>
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<h4 id="能量球位置估计（Energy-Globe-Position-Estimation）"><a class="header-anchor" href="#能量球位置估计（Energy-Globe-Position-Estimation）">¶</a>能量球位置估计（Energy Globe Position Estimation）</h4>
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<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E8%83%BD%E9%87%8F%E7%90%83%E4%BD%8D%E7%BD%AE%E4%BC%B0%E8%AE%A1-1599486501.png" alt="能量球位置估计"></p>
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<p>这个问题类似于一个追击问题（红球是一个匀速导弹，蓝球是拦截导弹），我们需要求的是预计追击时间$T_e$。</p>
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<p><code>能量球</code>到追击点$P_m$，两个坐标相同，所以，</p>
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<p>$$<br>
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P_m=VeT_{total}+P_e<br>
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$$</p>
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<p>易得总时间，</p>
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<p>$$<br>
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T_{total}=T_f-T_n+T_e<br>
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$$</p>
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<p>通过边相等得，</p>
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<p>$$<br>
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P_e+(T_f-T_n+T_e)V_e=V_vT_e+\frac{1}{2}A_vT_e^2+P_v<br>
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$$</p>
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<p>即可解出$T_e$。</p>
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<blockquote>
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<p><strong>注意</strong><br>
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存在无法追击的情况，即($\Delta<0$)，因为我们这里是严格的计算，实际上整个追击过程只有 1-2 秒，并且在不断地更新<code>能量球</code>的信息，所以预计的那一段时间$T_e$通常可以忽略不计。但是在可以计算时，能够提供更加准确的预计到达时间，从而让<code>车</code>能够更加精准的决策何时去充电。</p>
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</blockquote>
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<h4 id="充电决策（Charge-Determination）"><a class="header-anchor" href="#充电决策（Charge-Determination）">¶</a>充电决策（Charge Determination）</h4>
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<p>当同时满足以下两个条件时：</p>
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<ol>
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<li><code>车</code>知道<code>能量球</code>的信息</li>
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<li><code>车</code>的预计剩余能量小于等于警戒能量</li>
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</ol>
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<p>预计剩余能量：</p>
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<pre><code class="language-ada">Left_Charge := Current_Charge - Current_Discharge_Per_Sec * Estimated_Time;
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</code></pre>
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<h4 id="半径决策（Radius-Determination）"><a class="header-anchor" href="#半径决策（Radius-Determination）">¶</a>半径决策（Radius Determination）</h4>
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<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E5%8D%8A%E5%BE%84%E5%86%B3%E7%AD%96-1599486502.png" alt="半径决策"></p>
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<p>半径向量：</p>
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<pre><code class="language-ada">Radius_Vector := Radius_Distance * Norm (Position - Vehicle_Message.EG.Position);
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</code></pre>
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<p><code>车</code>的位置：</p>
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<pre><code class="language-ada">Destination := Vehicle_Message.EG.Position + Radius_Vector;
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</code></pre>
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<p>其中有些变量的值或初始值是由经验确定的</p>
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<ol>
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<li><code>Radius_Distance</code>的值是<code>0.3</code>，是因为多次实验发现在 64 个，128 个，256 个<code>车</code>的情况下<code>0.3</code>表现均衡。</li>
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<li><code>Destination</code>的初始值是<code>(0, 0, 0)</code>，这样能够避免一开始时<code>车</code>四散，导致失去联系，不能构成球形。</li>
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</ol>
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<h4 id="使用当前能量优化半径（Radius-Optimization-With-Current-Charge）"><a class="header-anchor" href="#使用当前能量优化半径（Radius-Optimization-With-Current-Charge）">¶</a>使用当前能量优化半径（Radius Optimization With Current Charge）</h4>
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<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E4%BD%BF%E7%94%A8%E5%BD%93%E5%89%8D%E8%83%BD%E9%87%8F%E4%BC%98%E5%8C%96%E5%8D%8A%E5%BE%84-1599486502.png" alt="使用当前能量优化半径"></p>
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<pre><code class="language-ada">Radius_Vector = (0.75 + 0.25 * Current_Charge) * Radius_Vector;
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</code></pre>
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<p><code>0.75</code>和<code>0.25</code>都是人为确定的，没什么依据😄。</p>
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<h4 id="一个解决碰撞的机制（A-Solution-To-Collision）"><a class="header-anchor" href="#一个解决碰撞的机制（A-Solution-To-Collision）">¶</a>一个解决碰撞的机制（A Solution To Collision）</h4>
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<blockquote>
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<p><strong>注意</strong><br>
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这个机制未经过控制变量实验验证，只是理论上分析得到的。</p>
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</blockquote>
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<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E4%B8%80%E4%B8%AA%E8%A7%A3%E5%86%B3%E7%A2%B0%E6%92%9E%E7%9A%84%E6%9C%BA%E5%88%B6-1599486503.png" alt="一个解决碰撞的机制"></p>
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<p>因为<code>车</code>和<code>车</code>离的足够近时会发生碰撞，表现为大家都减速不动。所以当一个<code>车</code>从外层到<code>能量球</code>去加油时，周围的<code>车</code>减速会一定程度的减少碰撞的发生。</p>
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<p>实现时，需要在消息结构中添加<code>Vehicle_Charge</code>来判断谁的能量更低。</p>
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<h3 id="Stage-C"><a class="header-anchor" href="#Stage-C">¶</a>Stage C</h3>
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<p>这个阶段中，能量球有两个或更多。我们遇到的新问题有：</p>
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<ol>
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<li>如何决策去围绕哪一个<code>能量球</code>运动</li>
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<li>如何自适应球形模型大小的变化</li>
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</ol>
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<h4 id="多个能量球决策（Multiple-Energy-Globes-Decision）"><a class="header-anchor" href="#多个能量球决策（Multiple-Energy-Globes-Decision）">¶</a>多个<code>能量球</code>决策（Multiple Energy Globes Decision）</h4>
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<p>当有多个<code>能量球</code>时（<code>能量球</code>还有可能凭空消失），每个<code>车</code>都要独立的选择其中一个作为他所在球形模型的球心，而且这个过程时动态的。</p>
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<p>我们分两种情况去讨论这个问题：</p>
|
||
<h5 id="1-车发现了两个以上能量球"><a class="header-anchor" href="#1-车发现了两个以上能量球">¶</a>1. <code>车</code>发现了两个以上<code>能量球</code></h5>
|
||
<p>这种情况比较简单，我们只需要从中选择最近的哪一个即可。距离公式如下：</p>
|
||
<pre><code class="language-ada">distance := EG.Position + (Clock - EG_Find_Time) * EG.Velocity - Vehicle_Position
|
||
</code></pre>
|
||
<h5 id="2-车从别的车获得的信息中有新的能量球"><a class="header-anchor" href="#2-车从别的车获得的信息中有新的能量球">¶</a>2. <code>车</code>从别的<code>车</code>获得的信息中有新的<code>能量球</code></h5>
|
||
<p>这种情况实际上是非常复杂的，因为存在一种情况：两个<code>车</code>说的时同一个<code>能量球</code>，但是不是同时发现的，很难判断是否是同一个<code>能量球</code>。</p>
|
||
<p>我们可以使用时间戳来判断获得更新的<code>能量球</code>。但是这个更新不能以时间戳作为唯一判据，因为存在一种情况，<code>车A</code>知道一个旧的<code>能量球</code>，但是发现的时间已经过去很久了，<code>车B</code>发现一个新的<code>能量球</code>，从远处靠近<code>车A</code>，时，两车交换信息，该如何选择呢？</p>
|
||
<p>所以，我又加入了一个失效时间，来解决上述问题。</p>
|
||
<pre><code class="language-ada">Clock - Vehicle_Message.EG_Update_Time > Vehicle_Message_Expire_Time
|
||
</code></pre>
|
||
<p>当上述条件为真时，<code>车</code>才会选择更新的信息。</p>
|
||
<h4 id="使用旋转优化（Optimization-With-Rotation）"><a class="header-anchor" href="#使用旋转优化（Optimization-With-Rotation）">¶</a>使用旋转优化（Optimization With Rotation）</h4>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E6%97%8B%E8%BD%AC%E5%8D%8A%E5%BE%84-1599486504.png" alt="旋转半径"></p>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E6%97%8B%E8%BD%AC%E8%BD%B4-1599486505.png" alt="旋转轴"></p>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/2D%E6%97%8B%E8%BD%AC%E5%8D%8A%E5%BE%84-1599486506.png" alt="2D旋转半径"></p>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/3D%E6%97%8B%E8%BD%AC-1599486507.png" alt="3D旋转"></p>
|
||
<p>相对于静态的在球面等待，动态的在球面旋转在实验中取得了更稳定的表现。</p>
|
||
<blockquote>
|
||
<p><strong>注意</strong><br>
|
||
这个优化措施可能无效，我的同学们对这个优化反应褒贬不一，但是我觉得确实让这个模型更好看啦😄</p>
|
||
</blockquote>
|
||
<p>旋转半径向量与旋转轴垂直：</p>
|
||
<p>$$<br>
|
||
X_rX_a+Y_rY_a+Z_rZ_a=0<br>
|
||
$$</p>
|
||
<p>易得无数个解，但是为了尽量让两个<code>车</code>不会面对面相撞（随机赋值的话），这里手动赋值$X_a$和$Y_a$为$1$，求得唯一解。</p>
|
||
<h4 id="自动半径适应（Automatic-Radius-Adaptation）"><a class="header-anchor" href="#自动半径适应（Automatic-Radius-Adaptation）">¶</a>自动半径适应（Automatic Radius Adaptation）</h4>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E9%80%9A%E8%AE%AF%E7%8E%AF-1599486507.png" alt="通讯环"></p>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E9%80%9A%E8%AE%AF%E7%8E%AF%E5%86%85-1599486508.png" alt="通讯环内"></p>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E9%80%9A%E8%AE%AF%E7%8E%AF%E5%A4%96-1599486509.png" alt="通讯环外"></p>
|
||
<p>我们在 Stage A&B 中的半径是手动设置的，但是在 Stage C 中，每个球星模型的<code>车</code>的数量是动态的，如果半径不跟随数量变化，那么就有可能丢失通讯。</p>
|
||
<p>在理想的球星模型中，我们可以发现一个通讯环，在通讯环中的所有<code>车</code>都是互联的，并且中心的<code>能量球</code>很难突破这层环。在<code>车</code>进出通讯环时，我们可以通过当时的位置，动态修正半径大小。</p>
|
||
<p>我们分三种情况讨论该模型：</p>
|
||
<ol>
|
||
<li>半径过大，此时会有更多的<code>车</code>进到通讯环以内，从而使得半径变小。</li>
|
||
<li>半径国小，此时会有更多的<code>车</code>进到通讯环以外，从而使得半径变大。</li>
|
||
<li>半径正好，进到通讯环以内的<code>车</code>和进到通讯环以外的<code>车</code>大致是相同的，所以半径会稳定在某一个数值。</li>
|
||
</ol>
|
||
<p>在自动修正半径时，我们需要一个学习率参数<code>Track_Correction_Rate</code>，来确保不会因为充能量的不确定性而使得半径不稳定。</p>
|
||
<p>要实现该模型，我们还需要存在一个弹出通讯环的效果，即<code>车</code>在<code>能量球</code>加完能量后，弹出到通讯环外。实现如下，</p>
|
||
<pre><code class="language-ada">Actual_Radius_Vector := 1.5 * Rotated_Radius_Vector;
|
||
</code></pre>
|
||
<h3 id="Stage-D"><a class="header-anchor" href="#Stage-D">¶</a>Stage D</h3>
|
||
<p>最后一个阶段，要求<code>车</code>之间随机协商出一定数量的<code>车</code>存活，剩下的自主“死亡“，比如一开始是 64 个，最终要求剩下 42 个。</p>
|
||
<p>这个问题最简单的解决方案是直接从 1 开始分配编号，按照编号顺序“死亡”就好啦，但是我觉得这个方案无法体现<code>随机</code>。</p>
|
||
<p>通过分析，这个类似于现在大火的<code>区块链</code>中最重要的一个问题，即分布式节点如何达成共识，解决方案也是一样的：共识算法。</p>
|
||
<p>推荐观看<a href="https://www.bilibili.com/video/av78588312?from=search&seid=1453987515383608625" target="_blank" rel="noopener">李永乐老师：拜占庭将军问题是什么？区块链如何防范恶意节点？</a></p>
|
||
<h4 id="共识算法-Consensus-Algorithm"><a class="header-anchor" href="#共识算法-Consensus-Algorithm">¶</a>共识算法(Consensus Algorithm)<sup class="footnote-ref"><a href="#fn1" id="fnref1">[1]</a></sup></h4>
|
||
<p>在这里我们仅利用共识算法的思想（不解决恶意节点问题），利用时间戳达成共识。</p>
|
||
<p>在<code>车</code>与<code>车</code>的通讯过程中，我们约定以下原则：</p>
|
||
<ol>
|
||
<li>在消息中添加三个字段：<code>Vehicle_No</code>数组，<code>Target_No_of_Elements</code>数组长度和<code>Vehicle_List_Update_Time</code>上一次更新时间。</li>
|
||
<li>所有的<code>车</code>一直都能接受和发送信息。</li>
|
||
<li>在最开始，所有的<code>车</code>都把自己的编号放到数组的第一个位置。</li>
|
||
<li>如果<code>车</code>接收到的信息与自身存储的信息不同（数组长度不同，或者上一次更新时间不同），那么按照下面的规则确定保留哪个<br>
|
||
保留数组更长的那个<br>
|
||
选择上一次更新时间更早的那个</li>
|
||
<li>检查自己的编号是否在<code>Vehicle_No</code>数组中，若不在并且仍有空间，那么就把自己的编号加进去。</li>
|
||
<li>在上一次更新时间又<code>Confirm_Time_Interval</code>秒后，如果数组已满并且自己的编号不在里面，那么该<code>车</code>就不能再去加能量了。</li>
|
||
</ol>
|
||
<p>经过实验，在 64 个<code>车</code>，缩减到 42 个的情况下，<code>Confirm_Time_Interval</code>设置为 1 秒就可以满足要求。</p>
|
||
<h2 id="结果"><a class="header-anchor" href="#结果">¶</a>结果<sup class="footnote-ref"><a href="#fn2" id="fnref2">[2]</a></sup></h2>
|
||
<h3 id="截图"><a class="header-anchor" href="#截图">¶</a>截图</h3>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/%E6%88%AA%E5%9B%BE-1599486510.png" alt="截图"></p>
|
||
<h3 id="Stage-A-B-Single-Globe-In-Orbit"><a class="header-anchor" href="#Stage-A-B-Single-Globe-In-Orbit">¶</a>Stage A&B(<code>Single_Globe_In_Orbit</code>)</h3>
|
||
<table>
|
||
<thead>
|
||
<tr>
|
||
<th style="text-align:center">Initial Number</th>
|
||
<th style="text-align:center">Target Number</th>
|
||
<th style="text-align:center">Duration</th>
|
||
<th style="text-align:center">Test times</th>
|
||
<th style="text-align:center">Average Result</th>
|
||
<th style="text-align:center">Survival Rate</th>
|
||
<th style="text-align:center">Average Frame Rate</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr>
|
||
<td style="text-align:center">32</td>
|
||
<td style="text-align:center">32</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">31.8</td>
|
||
<td style="text-align:center">0.99375</td>
|
||
<td style="text-align:center">30 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">64</td>
|
||
<td style="text-align:center">64</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">63.4</td>
|
||
<td style="text-align:center">0.990625</td>
|
||
<td style="text-align:center">28 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">128</td>
|
||
<td style="text-align:center">128</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">126.8</td>
|
||
<td style="text-align:center">0.990625</td>
|
||
<td style="text-align:center">20 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">256</td>
|
||
<td style="text-align:center">256</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">233</td>
|
||
<td style="text-align:center">0.910156</td>
|
||
<td style="text-align:center">9 Hz</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/stageAB-1599486511.png" alt="Stage A&B"></p>
|
||
<h3 id="Stage-C-Random-Globes-In-Orbits"><a class="header-anchor" href="#Stage-C-Random-Globes-In-Orbits">¶</a>Stage C(<code>Random_Globes_In_Orbits</code>)</h3>
|
||
<table>
|
||
<thead>
|
||
<tr>
|
||
<th style="text-align:center">Initial Number</th>
|
||
<th style="text-align:center">Target Number</th>
|
||
<th style="text-align:center">Duration</th>
|
||
<th style="text-align:center">Test times</th>
|
||
<th style="text-align:center">Average Result</th>
|
||
<th style="text-align:center">Survival Rate</th>
|
||
<th style="text-align:center">Average Frame Rate</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr>
|
||
<td style="text-align:center">32</td>
|
||
<td style="text-align:center">32</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">26.8</td>
|
||
<td style="text-align:center">0.8375</td>
|
||
<td style="text-align:center">30 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">64</td>
|
||
<td style="text-align:center">64</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">60.2</td>
|
||
<td style="text-align:center">0.940625</td>
|
||
<td style="text-align:center">28 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">128</td>
|
||
<td style="text-align:center">128</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">109.2</td>
|
||
<td style="text-align:center">0.853125</td>
|
||
<td style="text-align:center">20 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">256</td>
|
||
<td style="text-align:center">256</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">208.2</td>
|
||
<td style="text-align:center">0.813281</td>
|
||
<td style="text-align:center">9 Hz</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/stageC-1599486512.png" alt="Stage C"></p>
|
||
<h3 id="Stage-D-Random-Globes-In-Orbits"><a class="header-anchor" href="#Stage-D-Random-Globes-In-Orbits">¶</a>Stage D(<code>Random_Globes_In_Orbits</code>)</h3>
|
||
<table>
|
||
<thead>
|
||
<tr>
|
||
<th style="text-align:center">Initial Number</th>
|
||
<th style="text-align:center">Target Number</th>
|
||
<th style="text-align:center">Duration</th>
|
||
<th style="text-align:center">Test times</th>
|
||
<th style="text-align:center">Average Result</th>
|
||
<th style="text-align:center">Survival Rate</th>
|
||
<th style="text-align:center">Average Frame Rate</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr>
|
||
<td style="text-align:center">32</td>
|
||
<td style="text-align:center">42</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">24</td>
|
||
<td style="text-align:center">0.571429</td>
|
||
<td style="text-align:center">30 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">64</td>
|
||
<td style="text-align:center">42</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">37.4</td>
|
||
<td style="text-align:center">0.890476</td>
|
||
<td style="text-align:center">28 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">128</td>
|
||
<td style="text-align:center">100</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">83.4</td>
|
||
<td style="text-align:center">0.834</td>
|
||
<td style="text-align:center">20 Hz</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align:center">256</td>
|
||
<td style="text-align:center">150</td>
|
||
<td style="text-align:center">5 min</td>
|
||
<td style="text-align:center">5</td>
|
||
<td style="text-align:center">133</td>
|
||
<td style="text-align:center">0.886667</td>
|
||
<td style="text-align:center">9 Hz</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p><img src="https://davidz-blog.oss-cn-beijing.aliyuncs.com/img/stageD-1599486513.png" alt="Stage D"></p>
|
||
<h2 id="感谢"><a class="header-anchor" href="#感谢">¶</a>感谢</h2>
|
||
<p>感谢所有在作业中帮助过我的同学，辅导员和老师❤️。</p>
|
||
<hr class="footnotes-sep">
|
||
<section class="footnotes">
|
||
<ol class="footnotes-list">
|
||
<li id="fn1" class="footnote-item"><p>共识算法：<a href="https://en.wikipedia.org/wiki/Consensus_decision-making" target="_blank" rel="noopener">https://en.wikipedia.org/wiki/Consensus_decision-making</a> <a href="#fnref1" class="footnote-backref">↩︎</a></p>
|
||
</li>
|
||
<li id="fn2" class="footnote-item"><p>测试平台： 笔记本 Intel I7 处理器 @ 3.43GHz，16GB 内存。因为我是用 Python 编写测试脚本，通过识别当前程序线程数量来判断<code>车</code>的数量的，所以测试结果可能不准确。 <a href="#fnref2" class="footnote-backref">↩︎</a></p>
|
||
</li>
|
||
</ol>
|
||
</section>
|
||
|
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<li><a href="/">15 <p>文章</p></a></li>
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<h4>目录</h4>
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<ol class="toc"><li class="toc-item toc-level-2"><a class="toc-link" href="#前言"><span class="toc-number">1.</span> <span class="toc-text">¶前言</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#问题"><span class="toc-number">2.</span> <span class="toc-text">¶问题</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#分析"><span class="toc-number">3.</span> <span class="toc-text">¶分析</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#实现"><span class="toc-number">4.</span> <span class="toc-text">¶实现</span></a><ol class="toc-child"><li class="toc-item toc-level-3"><a class="toc-link" href="#Stage-A-B"><span class="toc-number">4.1.</span> <span class="toc-text">¶Stage A&B</span></a><ol class="toc-child"><li class="toc-item toc-level-4"><a class="toc-link" href="#基本程序结构（Basic-Program-Structure）"><span class="toc-number">4.1.1.</span> <span class="toc-text">¶基本程序结构（Basic Program Structure）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#消息结构（Message-Structure）"><span class="toc-number">4.1.2.</span> <span class="toc-text">¶消息结构（Message Structure）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#中央控制（Central-Control）"><span class="toc-number">4.1.3.</span> <span class="toc-text">¶中央控制（Central Control）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#能量球位置估计（Energy-Globe-Position-Estimation）"><span class="toc-number">4.1.4.</span> <span class="toc-text">¶能量球位置估计（Energy Globe Position Estimation）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#充电决策（Charge-Determination）"><span class="toc-number">4.1.5.</span> <span class="toc-text">¶充电决策（Charge Determination）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#半径决策（Radius-Determination）"><span class="toc-number">4.1.6.</span> <span class="toc-text">¶半径决策（Radius Determination）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#使用当前能量优化半径（Radius-Optimization-With-Current-Charge）"><span class="toc-number">4.1.7.</span> <span class="toc-text">¶使用当前能量优化半径（Radius Optimization With Current Charge）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#一个解决碰撞的机制（A-Solution-To-Collision）"><span class="toc-number">4.1.8.</span> <span class="toc-text">¶一个解决碰撞的机制（A Solution To Collision）</span></a></li></ol></li><li class="toc-item toc-level-3"><a class="toc-link" href="#Stage-C"><span class="toc-number">4.2.</span> <span class="toc-text">¶Stage C</span></a><ol class="toc-child"><li class="toc-item toc-level-4"><a class="toc-link" href="#多个能量球决策（Multiple-Energy-Globes-Decision）"><span class="toc-number">4.2.1.</span> <span class="toc-text">¶多个能量球决策（Multiple Energy Globes Decision）</span></a><ol class="toc-child"><li class="toc-item toc-level-5"><a class="toc-link" href="#1-车发现了两个以上能量球"><span class="toc-number">4.2.1.1.</span> <span class="toc-text">¶1. 车发现了两个以上能量球</span></a></li><li class="toc-item toc-level-5"><a class="toc-link" href="#2-车从别的车获得的信息中有新的能量球"><span class="toc-number">4.2.1.2.</span> <span class="toc-text">¶2. 车从别的车获得的信息中有新的能量球</span></a></li></ol></li><li class="toc-item toc-level-4"><a class="toc-link" href="#使用旋转优化（Optimization-With-Rotation）"><span class="toc-number">4.2.2.</span> <span class="toc-text">¶使用旋转优化（Optimization With Rotation）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#自动半径适应（Automatic-Radius-Adaptation）"><span class="toc-number">4.2.3.</span> <span class="toc-text">¶自动半径适应（Automatic Radius Adaptation）</span></a></li></ol></li><li class="toc-item toc-level-3"><a class="toc-link" href="#Stage-D"><span class="toc-number">4.3.</span> <span class="toc-text">¶Stage D</span></a><ol class="toc-child"><li class="toc-item toc-level-4"><a class="toc-link" href="#共识算法-Consensus-Algorithm"><span class="toc-number">4.3.1.</span> <span class="toc-text">¶共识算法(Consensus Algorithm)[1]</span></a></li></ol></li></ol></li><li class="toc-item toc-level-2"><a class="toc-link" href="#结果"><span class="toc-number">5.</span> <span class="toc-text">¶结果[2]</span></a><ol class="toc-child"><li class="toc-item toc-level-3"><a class="toc-link" href="#截图"><span class="toc-number">5.1.</span> <span class="toc-text">¶截图</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#Stage-A-B-Single-Globe-In-Orbit"><span class="toc-number">5.2.</span> <span class="toc-text">¶Stage A&B(Single_Globe_In_Orbit)</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#Stage-C-Random-Globes-In-Orbits"><span class="toc-number">5.3.</span> <span class="toc-text">¶Stage C(Random_Globes_In_Orbits)</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#Stage-D-Random-Globes-In-Orbits"><span class="toc-number">5.4.</span> <span class="toc-text">¶Stage D(Random_Globes_In_Orbits)</span></a></li></ol></li><li class="toc-item toc-level-2"><a class="toc-link" href="#感谢"><span class="toc-number">6.</span> <span class="toc-text">¶感谢</span></a></li></ol>
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