ПАРАМЕТРИЧЕСКИЙ СИНТЕЗ СИСТЕМЫ УПРАВЛЕНИЯ ГРУППОВЫМ ДВИЖЕНИЕМ РОБОТОВ С ИСПОЛЬЗОВАНИЕМ СТАТИСТИЧЕСКОГО ИМИТАЦИОННОГО МОДЕЛИРОВАНИЯ

Abstract

The article proposes a parametric synthesis method of a multi-robot formation controller.The movement of the fo m tion i c ied out on the oute et by hum n ope to . Robot’ controlsystem corresponds to the modular-assembly principle based on common software, the jointfunctioning of which is implemented by middleware, for example, Robot Operating System. Errors inthe mobile robot control system are caused by: probabilistic application conditions, data-measuringsystem random errors, using simplified dynamic model within the development process. The influenceof the operating conditions on the communication system and the mobile robot autonomous drivingsystem performance reflects by the probabilistic-temporal characteristics: communications and informationsystem delay and the inten ity of mobi e obot’ top . method of t ti tic imu tionmodeling allowed taking into account the probabilistic-temporal characteristics of the mobile robotcommunication and the autonomous driving systems, as well as mobile robot dynamics. The coordinatedmovement of the multi-robot formation along a given path is provided by the method of a decentralizedvirtual structure. The task execution quality is evaluated by two indicators: the deviationof the form from the given one and the task-performance time. As an example, we consider the task ofthe movement of three robots along the route in a row-shaped formation, in which, for a given probabilistic-temporal characteristics, a multi-robot formation accomplish the given task in the shortesttime with minimal deviations of formation shape from the given one. Optimization solution allowedus to determine the optimal parameter of the formation control system. The optimization problem wassolved using the golden section method, statistical simulation was performed using MATLAB Simulinkand Parallel Computing Toolbox packages. A simulation of a homogeneous group of threemobile robots movement was performed for the task of driving along the route in the row-shapedformation with an interval of 5 m and a desired speed of 3 m/s. The quality of the autonomous drivingsystem ensures accident-free motion with an intensity of 1,2 stops per minute. The communicationsand information system with fully connected network topology provides communications flow betweenmobile robots with a frequency of no more than 10 Hz. Communications system delay vary inthe range from 0.1 to 0.5 s.