Формирование алгоритма стайного управления группой роботов в условиях постоянного возмущения среды

Abstract

The paper describes the development of a software simulation package in the MATLAB 2017b environment for modelling the problem of swarm control of a group of robots moving a platform at a preset velocity to a certain target region of the motion plane when the environment is persistently disturbed. We present simulation results for solving the problem for groups of two and four robots. We plan to use the software package as a basis for implementing more complex swarm control problems, such as target interception by a group of small smart weapons. The main feature of swarm control is minimum amount of information used. This approach improves the survivability of the system as a whole. Group decision-making time virtually does not depend on the number of robots in the swarm. Each robot changes those parameters of the platform that are also affected by the actions of other robots. Each robot in the swarm uses measurements to arrive at optimum control in limited information conditions relative to the system configuration and target requirements, which is what ensures completion of the task posed. Each robot operates independently from others.