背景和初衷:
刚入门的学术小白们在阅读文献的过程中,总会遇到一些默生涩难懂但是通用的学术名词。例如什么 proactive and reactive, nonholonomic and holonomic 。 这里为了方便大家,总结和解释自己阅读学术文章过程中遇到的机器人领域的相关学术名词。
- proactive or reactive
- nonholonomic and holonomic
- …
proactive vs reactive
simply, the proactive is active and reactive is mean to wait the thing to happen or to trigger
for example :
A proactive person takes charge in their life by setting goals, planning ahead, and not relying on others to help them reach their objectives. These people are open-minded and prepared for any potential changes.
A Reactive people respond to events… or wait to respond until after the event has already happened. Reactive people tend to focus on short-term solutions rather than plan for the long term.
often see the reactive method means it is a kind of passive mode in some way.
The similar phrase is positive and negative sensors.
nonholonomic and holonomic
drive robot 依据自由度(freedom)的可控性(controllable)划分为“nonholonomic or holonomic robot”;
holonomic robot:在所有的自由度上都可控的。
nonholonomic robot:可控的自由度维数小于机器人自身的自由度。
从另一个直观通俗的角度可以理解为:如果机器人可以在N维空间中朝任意方向移动,则对于N维空间是完整性的。而机器人在N维空间中不能朝任意方向移动,则认为是非完整性约束。
比如,在一维空间中,只能在一个轴的前后方向移动。那么,对于有轨电车或火车,则可以认为是完整性的,因为它是可能朝着该空间任意方向移动的。但如果对于二维空间来说,就是非完整性约束了,因为有轨电车或火车无法朝轴的正交方向移动。同样地道理,对于地面移动机器人来说,通常我们所说的空间是指二维空间中,人在该二维空间中是完整性的约束,也就是所有能够像人一样在二维空间中自由移动的机器人,都是完整性约束。而类似无人车这种机器人,无法保证侧向移动,因此被认为是非完整性约束。
理解不到位的地方还请指教