Розроблення схеми та удосконалення методу управління рухом групи мобільних робототехнічних платформ

Abstract

When managing a group of mobile robotic platforms, there are specific tasks of ensuring operational analysis and taking into account changes in the functioning parameters of each individual platform and the impact of the surrounding environment on it and the group as a whole. It is necessary to realize not only the coordinated management of a separate robotic platform but also to ensure the interaction of separate platforms in order to fulfill the task as a whole. At the same time, it is necessary to analyze the navigational state of the surrounding environment, the composition and coordinates of the platforms in the group, to keep track of the available resources necessary for the performed task. When performing complex tasks by a group of robots, it is necessary to take into account the possibility of losing individual robot during the execution of the task and the fact that each individual robot can perform relatively simple operations, which are determined by its characteristics (radius of action, energy resource, set of executive devices). Groups of mobile robotic platforms can be homogeneous or heterogeneous, which determines the peculiarities of their management. The hybrid management method, which is a combination of centralized and distributed, in the case of heterogeneous platforms, which is most often encountered in practice, should be considered the most adequate. Under the conditions of heterogeneity of platforms in the group, control algorithms should be implemented with unconditional consideration of the features and characteristics of each individual platform. The main requirements for the hybrid management of the robots group are to ensure: effective management of the robots group in real time; respond to changes in working conditions and the surrounding environment; implement various scenarios for achieving a common goal and fulfilling a common task; scaling the number of robots that need to be managed in the group; increasing the accuracy of movement control of each robot in the group. To implement the specified tasks, the method of controlling the movement of a group of mobile robotic platforms has been improved, which, by taking into account the changing parameters of the platforms and the changing state of the surrounding environment, provides effective management of the group of platforms in real time. A generalized scheme of the group management process has been developed, which ensures the adaptation of the group management process to the changing conditions of the surrounding environment. A block diagram of the autonomous motion control algorithm of a separate mobile robotic platform has been developed, which ensures its effective functioning taking into account the variable characteristics of the platform and the state of the environment.