Использование микроконтроллера ESP32 совместно с гироприборами MPU-6050 и BNO055 при создании самобалансирующих роботов

Статья посвящена анализу возможностей электронных приборов, таких как гироскоп, акселерометр, магнитометр. Приводятся результаты тестирования и действующие алгоритмы. Анализируются возможности их применения в разных вариантах расчетов. Делаются выводы по развитию возможностей и устранению недостатков полученной комплексной системы позиционирования робота

An empirical test for cellular automaton models of traffic flow

Based on a detailed microscopic test scenario motivated by recent empirical studies of single-vehicle data, several cellular automaton models for traffic flow are compared. We find three levels of agreement with the empirical data: 1) models that do not reproduce even qualitatively the most important empirical observations, 2) models that are on a macroscopic level in reasonable agreement with the empirics, and 3) models that reproduce the empirical data on a microscopic level as well. Our results are not only relevant for applications, but also shed new light on the relevant interactions in traffic flow.Comment: 28 pages, 36 figures, accepted for publication in PR

Cellular automata approach to three-phase traffic theory

The cellular automata (CA) approach to traffic modeling is extended to allow for spatially homogeneous steady state solutions that cover a two dimensional region in the flow-density plane. Hence these models fulfill a basic postulate of a three-phase traffic theory proposed by Kerner. This is achieved by a synchronization distance, within which a vehicle always tries to adjust its speed to the one of the vehicle in front. In the CA models presented, the modelling of the free and safe speeds, the slow-to-start rules as well as some contributions to noise are based on the ideas of the Nagel-Schreckenberg type modelling. It is shown that the proposed CA models can be very transparent and still reproduce the two main types of congested patterns (the general pattern and the synchronized flow pattern) as well as their dependence on the flows near an on-ramp, in qualitative agreement with the recently developed continuum version of the three-phase traffic theory [B. S. Kerner and S. L. Klenov. 2002. J. Phys. A: Math. Gen. 35, L31]. These features are qualitatively different than in previously considered CA traffic models. The probability of the breakdown phenomenon (i.e., of the phase transition from free flow to synchronized flow) as function of the flow rate to the on-ramp and of the flow rate on the road upstream of the on-ramp is investigated. The capacity drops at the on-ramp which occur due to the formation of different congested patterns are calculated.Comment: 55 pages, 24 figure