Abstract
The problem of controlling a group of special robots for application in the high-risk conditions (for example, for fire extinguishing, search for hazardous substances, or elimination of consequences of emergencies) is solved. According to the task, robots operate in the industrial and urban environment, i.e., the movement of robots is planar. Various strategies of group interaction between robots are analyzed; a literature review is conducted. Due to the task specifics, a decentralized management strategy has been selected. For solving the problem, a movement algorithm of a group of mobile robots with a subsequent visual check of the resulting algorithm operation is proposed. Implementation of the algorithm’s work is performed in the MATLAB environment. For preliminary algorithm verification and modeling of various dangerous cases, a model of robot group using the Mobile Robotics Simulation Toolbox of MATLAB was made. For a more detailed and accurate analysis of the real robot’s behavior, a model in the ROS package has been developed. That model interacts with the developed algorithm through the ROS Toolbox package of MATLAB. This software can be used for the training of engineering staff in the field of mathematical modeling, group control, and multi-agent systems. As a result of verification, the program and the model successfully solve the task. Yet, the model in the ROS package requires greater computational power because of the large number of complex calculations.
Highlights
Robots are used in many fields of human activity, such as industrial production, zones of radioactive and chemical contamination, warfare conditions, and space exploration [1,2,3,4,5]
On the input of block Chart from the Stateflow library enters the coordinates of points through which the robot should pass. The matrix of these coordinates is a result of operating the group control task program and is a regular variable matrix in MATLAB variable space
A special Mobile Robotics Simulation Toolbox [20] was developed in MATLAB to simulate work with tasks for mobile robots
Summary
Robots are used in many fields of human activity, such as industrial production, zones of radioactive and chemical contamination, warfare conditions, and space exploration [1,2,3,4,5]. It is proved that the application of single robots can appear ineffective in solving complex problems. For such issues, it is required to use groups of cooperating robots [1], [2]. It is required to use groups of cooperating robots [1], [2] It is caused by if using robots in the group, the acting radius increases due to the distribution of robots in all operating zone. The task of controlling a whole group of robots is more complicated than controlling a single one. The theory of group control of robots is at the stage of development and active research [1], [7,8,9]
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