Sloan数字巡天V航天机器人完全安全协调的实验鉴定
Experimental evaluation of complete safe coordination of astrobots for Sloan Digital Sky Survey V
摘要：
在每次观测过程中，大规模光谱测量的数据吞吐量直接与到达目标的光纤数量相协调。在本文中，我们评估的安全性和性能的航天机器人协调SDSS-V进行各种实验和模拟测试。我们说明，我们的策略提供了一个完整的协调条件，这取决于天体机器人的操作特性，他们的配置，和他们的目标。也就是说，协调方法的概念的基础上合作的人工势场被用来生成安全和完整的轨迹的航天机器人。最优目标分配进一步提高了所用算法的性能，在更快的收敛和更少的振荡运动。随机目标和星系表目标被用来观察在不同的目标分布的算法的协调成功。所提出的方法是能够处理所有潜在的冲突过程中的协调。根据空间机器人及其目标的初始构形，一旦满足完备性条件，算法就达到空间机器人的完全收敛。如果一个分配目标的天体机器人使用有效的策略，收敛时间以及振荡的数量减少的过程中的协调。极少数不完整的情况下，简单地解决了微不足道的修改天体机器人群的参数。
英文摘要：
The data throughput of massive spectroscopic surveys in the course of each observation is directly coordinated with the number of optical fibers which reach their target. In this paper, we evaluate the safety and the performance of the astrobots coordination in SDSS-V by conducting various experimental and simulated tests. We illustrate that our strategy provides a complete coordination condition which depends on the operational characteristics of astrobots, their configurations, and their targets. Namely, a coordination method based on the notion of cooperative artificial potential fields is used to generate safe and complete trajectories for astrobots. Optimal target assignment further improves the performance of the used algorithm in terms of faster convergences and less oscillatory movements. Both random targets and galaxy catalog targets are employed to observe the coordination success of the algorithm in various target distributions. The proposed method is capable of handling all potential collisions in the course of coordination. Once the completeness condition is fulfilled according to initial configuration of astrobots and their targets, the algorithm reaches full convergence of astrobots. Should one assign targets to astrobots using efficient strategies, convergence time as well as the number of oscillations decrease in the course of coordination. Rare incomplete scenarios are simply resolved by trivial modifications of astrobots swarms' parameters.
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