ᦨㆡ⸃ 6.642685
⸘▚ᤨ㑆 0.3416 sec.
㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
ᦨㆡ⸃ 8.27493
⸘▚ᤨ㑆 0.8111 sec.
ᣥ
㩷㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
࿑㩷 㪋㪄㪏㩷 ታⴕ䋱䈱䉫䊤䊐㩷 㩷㪉㪐
䋲㩷 㩷 㩷
ೋᦼ䊂䊷䉺䈲䈧䈑䈱䈫䈍䉍䈪䈅䉎䋮㩷 㩷
㩷
);
"2", ["0.4", "1", "0.6", "0.8"]
"1", ["-0.6", "0", "0.2", "0.3"], "0", ["-1", "-0.6", "0.6", "0.8"],
%bad = (
@area = ("-1", "1", "0", "1.5");
$y0 = "1.5";
$x0 = "-1";
㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
⚿ᨐ䈱䉫䊤䊐䈪䈱䉕࿑ 㪋㪄㪐 䈮␜䈜䋮㩷 㩷
㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
㩷㪊㪇
㩷
㩷 㩷
㩷 㩷
㩷
ᦨㆡ⸃ 6.908611
⸘▚ᤨ㑆 0.2079 sec.
ᦨㆡ⸃ 6.948735
⸘▚ᤨ㑆 1.0902 sec.
ᣥ ᣂ
㩷 㩷 㩷
࿑㩷 㪋㪄㪐㩷 ታⴕ䋲䈱䉫䊤䊐㩷 㩷㪊㪈
䋳㩷 㩷
ೋᦼ䊂䊷䉺䈲䈧䈑䈱䈫䈍䉍䈪䈅䉎䋮㩷 㩷
㩷
"1", ["-0.4", "0", "0.2", "0.3"], "2", ["0.4", "1", "0.6", "0.8"]
);
"0", ["-1", "-0.6", "0.6", "0.8"],
%bad = (
@area = ("-1", "1", "0", "1.5");
$y0 = "1.5";
$x0 = "-1";
㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
⚿ᨐ䈱䉫䊤䊐䈪䈱䉕࿑ 㪋㪄㪈㪇 䈮␜䈜䋮㩷 㩷
೨䈱ੑ䈧䈱㗴䈫⇣䈭䈦䈩䋬䈖䈱䈪ᣂᣥᚻᴺ䈱⸘▚⚿ᨐ䈲ᚲⷐᤨ㑆䈏㆑䈉䈪 䈅䉎䈏䋬⸘▚䈚䈢ᦨㆡ⚻〝䈱ਛ䈮ᣂ䈚䈇⒳㘃䈱ㆫ⒖䉕䉁䉏䈩䈇䈭䈇䈢䉄ᦨㆡ⸃
䈏ห䈛䈪䈅䉎䋮㩷 㩷
㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
㩷㪊㪉
㩷
㩷
ᣂ
㩷 㩷 㩷
㩷
ᦨㆡ⸃ 6.168734
⸘▚ᤨ㑆 0.2938 sec.
ᦨㆡ⸃ 6.168734
⸘▚ᤨ㑆 0.6071 sec.
ᣥ
㩷 㩷 㩷
࿑㩷 㪋㪄㪈㪇㩷 ታⴕ䋳䈱䉫䊤䊐㩷 㩷㪊㪊
㪋㪅㪋㪅㪊㩷㪚㪣㪧 䉸䊷䉴䉮䊷䊄䈱ታⴕᚻ㗅䈮䈧䈇䈩㩷 㩷
ᧄ⎇ⓥ䈱 㪚㪣㪧 䉸䊷䉴䉮䊷䊄䈱ታⴕ䈮㑐䈚䈩䈲䋬એਅ䈱䋲࿁䈱ᠲ䉕ⴕ䈉䋮㩷 㩷
৻࿁⋡䋨ᦨዊ䊋䉡䊮䊄⸘▚䋩䋺㩷 㩷
¾
㪚㪣㪧 ⅣႺ䈪 㫄㪸㫂㪼㪶㪺㫃㫇㪅㫇㫃 䈪ᚑ䈚䈢䊐䉜䉟䊦 㪺㫃㫇 䉕⺒䉂ㄟ䉖䈪䋬䉮䊙䊮䊄 㵰㪸㫃㫃㪶㫃㪹㩿䉴䊁䉾䊒ᢙ㪀㵱䉕ታⴕ䈚䈩䋬ታⴕ⚿ᨐ䉕䊁䉨䉴䊃䊐䉜䉟䊦䈮ሽ䈜䉎䋮㩷¾
ታⴕ⚿ᨐ䊐䉜䉟䊦䉕ജ䈫䈚䋬䉴䉪䊥䊒䊃 㫄㪸㫂㪼㪶㪹㫆㫌㫅㪻㪅㫇㫃 䉕䈦䈩 㪚㪣㪧 䈪ᛒ䈋 䉎ᒻᑼ䈮⋥䈚䋬䈠䈱⚿ᨐ䉕 㪹㫆㫌㫅㪻 䈫䈇䈉䊁䉨䉴䊃䊐䉜䉟䊦䈮ሽ䈚䈩䈍䈒䋮㩷 㩷ੑ࿁⋡䋨⚻〝ត⚝䋩䋺㩷 㩷
¾
㪚㪣㪧 ⅣႺ䈪䋬㪺㫃㫇 䈫 㪹㫆㫌㫅㪻 䈱䋲䈧䈱䊐䉜䉟䊦䉕⺒䉂ㄟ䉖䈪䋬䉮䊙䊮䊄㵰㪾㫆㩿䉴䊁 䉾䊒ᢙ㪀㵱䉕ታⴕ䈜䉎䈫䋬ᦨㆡ⚻〝䈏ജ䈘䉏䉎䋮㩷¾
ታⴕ⚿ᨐ䉕ሽ䈚䈩䋬ᓟㅀ䈱นⷞൻ䉿䊷䊦䈱ജ䊐䉜䉟䊦䈮䈜䉎䋮㩷 㩷એ䈱ᚻ⛯䈐䈪䋬㪚㪣㪧 䊒䊨䉫䊤䊛䉕↪䈚䈢ᦨㆡ⚻〝䈱ត⚝䈏⚳䉎䋮㩷 㩷
㩷㪊㪋
㪋㪅㪌㩷 ⹏ଔ㩷
㪋㪅㪌㪅㪈㩷 Ყセᣇᴺ㩷 㩷
ห䈛⸘▚ᯏⅣႺ䋬ห䈛㗴䋨ೋᦼ䊂䊷䉺䋩䉕↪䈇䋬ᣢሽ⎇ⓥ䈮䉋䉎⸘▚⚿ᨐ䋨ᦨㆡ
⸃䈫ᚲⷐᤨ㑆䋩䈫ᧄ⎇ⓥ䈪ឭ᩺䈚䈢ᣂ䈚䈇䉺䉟䊒䈱ㆫ⒖䉕䈦䈩⸘▚䈚䈢⚿ᨐ䋨ᦨㆡ
⸃䈫ᚲⷐᤨ㑆䋩䉕Ყセ䈜䉎䋮㩷 㩷
㪋㪅㪌㪅㪉㩷 ⹏ଔ䈱⚿ᨐ㩷 㩷
೨▵䈱ታⴕ䈎䉌䋬ᧄ⎇ⓥ䈱ᚻᴺ䈪᳞䉄䈢ᦨㆡ⸃䈏䉌䈎䈮ᣢሽ⎇ⓥ䉋䉍♖ᐲ䈱
⦟䈇⚿ᨐ䈏䈢䋮ᦝ䈮ᚲⷐᤨ㑆䈏ዋ䈭䈒䈭䈦䈢䋮㩷
ᧄ⎇ⓥ䈲ᣂ䈚䈇ㆫ⒖䉕ឭ᩺䈚䈢䈏䋬ᓥ᧪⎇ⓥ䈱ㆫ⒖䉅ోㇱᱷ䈚䈩䈇䉎䈎䉌䋬ᓥ᧪
⎇ⓥ䈫ห䈛䈱⸃䉕᳞䉄䉌䉏䉎䈪䋬䉋䉍⦟䈇䊌䉴䉕⸘▚䈜䉎䈖䈫䈏น⢻䈪䈅䉎䋮㩷 䈠䉏䈮䋬㪋㪅㪋㪅㪉 䈪ਈ䈋䈢䋱䈱ᣂᣥᚻᴺ䉕↪䈇䈩䋬ត⚝䈱ㆊ⒟䉕␜䈜ត⚝䉿䊥䊷࿑
㪋㪄㪈㪈 䈪䈚䈩䈇䉎䋮ᣂᚻᴺ䈱䉫䊤䊐䈮ਣ䉕ઃ䈇䈢ᚲ䈲ᣥ䉫䊤䊐䈮ਣ䉕ઃ䈇䈢ᚲ䉕䊋 䉾䉪䊃䊤䉾䉪䈘䉏䈢䋮ត⚝䈱䉰䉟䉵䈲ᓥ᧪ᴺ䉋䉍ዊ䈘䈒䈭䈦䈢䈎䉌䋬ᚲⷐᤨ㑆䉅⍴❗䈘䉏 䈢䋮㩷
ᣥ㩷
㩷 ᣂ㩷
㩷 㩷
࿑㩷 㪋㪄㪈㪈㩷 ᣂᣥត⚝䉿䊥䊷䈱䉫䊤䊐㩷 㩷
㩷㪊㪌
䉁䈢䋬㪚㪣㪧 䈲㕖ᚻ⛯䈐ဳ⸒⺆䈪䈅䉎䈢䉄䋬ታ㓙䈮䊌䉴䉕ត⚝䈜䉎ᤨ䈮 㪚㪣㪧 䉸䊷䉴䉮 䊷䊄䈮ᦠ䈇䈩䈅䉎ㆫ⒖䈱㗅⇟䈮ᓥ䈦䈩ត⚝䉕ⴕ䈉䋮䈭䈱䈪䋬ᓥ᧪ᴺ䈪䉅ᧄ⎇ⓥ䈱ᚻ ᴺ䈪䉅ᚲⷐᤨ㑆䈲䈠䈱㗅⇟䈮ᒝ䈒ଐሽ䈜䉎䋮㗅⇟䉕ᄌᦝ䈜䉎䈫ត⚝䈱㗅⇟䉅ᄌᦝ 䈜䉎䈎䉌ᚲⷐᤨ㑆䉅ᄌ䉒䉎䋮䈋䈳䋬㪋㪅㪋 䈱ਃ䈧䈱䈱ㆫ⒖䈱㗅⇟䉕ㅒ䈮䈜䉎䈫䋬ห 䈛䈱㗴䈮ኻ䈚䈩㗅⇟䉕ㅒ䈮䈚䈢ᓟ䋬ᣂᣥᚻᴺ䈫䉅ᚲⷐᤨ㑆䈏ᄌ䉒䈦䈢䋮ᄌᦝ೨䈲 ᧄ⎇ⓥ䈱ᚻᴺ䈱䈾䈉䈏ᣧ䈇䈏䋬ᄌᦝᓟ䈲䉋䉍ㆃ䈇䈪䈅䉎䋮㩷
㩷
㩷 㪋㪄㪈㩷 ㅒ㗅䈮䈚䈢೨ᓟ䈱ᚲⷐᤨ㑆㩷 㩷
䋱㩷 䋲㩷 䋳㩷
㩷 ᣂ㩷 ᣥ㩷 ᣂ㩷 ᣥ㩷 ᣂ㩷 ᣥ㩷
✚ㆫ⒖ᢙ㩷 㪉㪇㪐 㪏㪏 㪈㪊㪉 㪌㪏 㪉㪊㪋㩷 㪈㪈㪇㩷
೨ಣℂ㩷 㪉㪌㪅㪍㪈㪌㪈 㪈㪈㪅㪋㪏㪍㪌 㪏㪅㪉㪉㪈㪏 㪌㪅㪇㪋㪍㪐 㪈㪐㪅㪍㪐㪎㪍㩷 㪐㪅㪇㪎㪉㪐㩷 ㅒ㗅೨㩷 䊌䉴ត⚝㩷 㪇㪅㪊㪋㪈㪍 㪇㪅㪏㪈㪈㪈 㪇㪅㪉㪇㪎㪐 㪈㪅㪇㪐㪇㪉 㪇㪅㪉㪐㪊㪏㩷 㪇㪅㪍㪇㪎㪈㩷
೨ಣℂ㩷 㪌㪉㪅㪇㪊㪇㪍 㪐㪅㪋㪋㪋㪏 㪉㪉㪅㪉㪍㪍㪌 㪍㪅㪉㪌㪉㪊 㪋㪉㪅㪋㪎㪋㪌㩷 㪈㪈㪅㪋㪊㪎㪎㩷 ㅒ㗅ᓟ㩷 䊌䉴ត⚝㩷 㪋㪅㪉㪋㪇㪎 㪇㪅㪐㪏㪐㪎 㪈㪅㪎㪉㪏㪌 㪇㪅㪏㪐㪍 㪉㪅㪊㪋㪍㪊㩷 㪈㪅㪈㪎㪌㪈㩷
㩷
એ䈪䋬ᧄ⎇ⓥ䈪ឭ᩺䈚䈢ᚻᴺ䈲♖ᐲ䈱㕙䈮䈍䈇䈩䋬ᣢሽ⎇ⓥ䉋䉍ᧄ⎇ⓥ䈪ឭ᩺
䈚䈢ᣂᚻᴺ䈏䉋䉍⦟䈇䈖䈫䈏ಽ䈎䉎䋮㩷 㩷
㩷㪊㪍
㪋㪅㪍㩷 ⹏ଔഥ䉿䊷䊦㩷
ᧄ⎇ⓥ䈱⹏ଔഥ䉿䊷䊦䈲䋬㪚㪣㪧 䊒䊨䉫䊤䊛䈪᳞䉄䈢ᦨㆡ䊌䉴ᐳᮡ䈱ᢙሼ䊂䊷 䉺䉕䉫䊤䊐䈜䉎นⷞൻ䉿䊷䊦䈱䈖䈫䈪䈅䉎䋮㩷
㪚㪣㪧 䊒䊨䉫䊤䊛䈮䉋䈦䈩▚䈚䈢ᦨㆡ䊌䉴䈲䋬࿑㩷 㪋㪄㪈㪉 䈱䉋䈉䈮ฦ䉴䊁䉾䊒䈱ᮮ䊶❑
ᐳᮡ䈱ᢙሼ䈱⟜䈪䋬䈬䈱䉋䈉䈭䊌䉴䉕䈚䈩䈇䉎䈱䈎ಽ䈎䉍䈨䉌䈒䋬⹏ଔ䉅䈚䈮䈒 䈇䋮㩷
㩷
㩷 㩷
࿑㩷 㪋㪄㪈㪉㩷 㪚㪣㪧 䊒䊨䉫䊤䊛䈪▚䈚䈢ᦨㆡ䊌䉴䈱ᐳᮡ㩷 㩷
䈠䈖䈪䋬ᧄ⎇ⓥ䈪䈲䋬◲න䈮䈠䉏䉌䈱ᢙሼ䉕 㪤㪸㫋㫃㪸㪹 䈱 㪤㪄䊐䉜䉟䊦䈮ᄌ឵䈜䉎 㫄
KCLP Interpreter for Hybrid Systems Version 0.92(9/12/2005)
(C) Kunihiko Hiraishi, JAIST
with POLKA: Convex Polyhedra Library :- seteps(0.000001).
*** yes ***
0.0000 sec.
Consulted : try.
0.0010 sec.
| ?- go(10).
JOPT = 6.587261
Time = 0: Loc = l1_1, X1 = -1.000000, X2 = 1.500000, U = -0.158494 Time = 1: Loc = l0_2, X1 = 0.480737, X2 = 1.134327, U = 0.013205 Time = 2: Loc = l1_1, X1 = -0.580385, X2 = 0.800000, U = -0.722102 Time = 3: Loc = l1_3, X1 = -0.400000, X2 = -0.000000, U = -0.000520 Time = 4: Loc = l1_5, X1 = -0.160520, X2 = 0.276608, U = -0.127432 Time = 5: Loc = l0_5, X1 = -0.000000, X2 = 0.094423, U = 0.025434 Time = 6: Loc = l1_5, X1 = -0.039984, X2 = 0.063203, U = -0.027795 Time = 7: Loc = l0_5, X1 = 0.000000, X2 = 0.025188, U = 0.011634 Time = 8: Loc = l1_5, X1 = -0.005817, X2 = 0.021709, U = -0.012714 Time = 9: Loc = l0_5, X1 = 0.000000, X2 = 0.000000, U = -0.000000
*** yes ***
0.2167 sec.
㩷
㪸㫂㪼㪶㫄㪸㫋㫃㪸㪹㪅㫇㫃 䈫䈇䈉 㪧㪼㫉㫃 䈱䉴䉪䊥䊒䊃䉕ᚑ䈚䈢䋮䈖䉏䈮䉋䉍䋬㪋㪅㪋 䈱ታⴕ䈪␜䈚䈢 䉫䊤䊐䈱䉋䈉䈮䋬⋥ⷰ䈮⚿ᨐ䉕ᛠី䈜䉎䈖䈫䈏䈪䈐䉎䋮㩷
㩷 㩷
㩷㪊㪎
䉴䉪䊥䊒䊃 㫄㪸㫂㪼㪶㫄㪸㫋㫃㪸㫋㪅㫇㫃 䈱䈇ᣇ䈮䈧䈇䈩㩷
ⅣႺᄌᢙߩቯ⟵
;
, "0", "1.5");
", ["0.4", "1", "0.6", "0.8"],
,
䉪䊥䊒䊃 㫄㪸㫂㪼㪶㪺㫃㫇㪅㫇㫃 䈫ห䈛䈒ೋᦼ䊂䊷䉺䈱✬㓸䈲 㪧㪼㫉㫃 䈱䊓䉾䊄䊐䉜䉟䊦䋨㫀㫅㫀㫋㪅㫇㫄䋩䉕
¾
ജ䊐䉜䉟䊦䋺㩷 䉴䉪䊥䊒䊃CLP
䈱ታⴕ⚿ᨐ䉕ሽ䈚䈢䊁䉨䉴䊃䊐䉜䉟䊦䋮 㩷
$cell = 200;
$sharp = 0.03
@area = ("-1", "1"
%bad = ( "0
"1", ["-1", "-0.6", "0.6", "0.8"],
"2", ["-0.6", "-0.2", "0.2", "0.3"]
"3", ["-0.2", "0", "0.6", "0.8"]
);
㩷 䉴
䈚䈩ⴕ䈦䈩䈇䉎䋮৻⇟䈮↪ᗧ䈚䈩䈅䉎䈱䈲䉫䊤䊐䈱⸃ᐲᓮᄌᢙ䈪䈅䉎䋮䈖䈖 䈪䋬㈩@area䈲㗔ၞో䈱▸࿐䈪䈅䉎䋮䊊䉾䉲䊠%bad䈲ฦ㓚ኂ‛䈱▸࿐䈪䈅䉎䋮
ⅣႺ䈏ᄌ䉒䉎䈢䈶䈮䋬䈖䈱ੑ䈧䈱ᄌᢙ䉕✬㓸䈜䉏䈳䋬ᣂ䈚䈇ⅣႺ䈮ᔕ䈛䈢䉫䊤䊐䉕 ឬ䈒䈖䈫䈏䈪䈐䉎䋮ജ䈮㑐䈚䈩䈲䋬એਅ䈱䊐䉜䉟䊦䉕↪䈜䉎䋮
¾
ജ䊐䉜䉟䊦䋺㩷Matlab
䈪ᛒ䈋䉎㵰out_ജ䊐䉜䉟䊦㵱䈫䈇䈉M䋭䊐䉜䉟䊦䋮
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╙䋵┨㩷 䈍䉒䉍䈮㩷
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