Logical Control a Group of Mobile Robots

Abstract

Problem statement: group interaction of the smart electromechanical systems (SEMS) play an important role in solving complex problems using robots. It is becoming more relevant that design and research the mechanism for implementing effective, reliable and safe cooperative operation. This article presents method for solving logical control tasks for a group of mobile robots moving in the convoy type formation. This problem arises when it is needed to change the topology of group, for example, when it is needed to merge/split two convoys, insert a new robot into the convoy or detach the convoy member, make other transformations of the SEMS associated with the implementation of the technological task. It is noted that the necessity of design the logical level of control system of a group mobile robots. Purpose of research: the article presents method for solving logical control tasks for a group of mobile robots using the theory of finite-state machine. A mechanism for planning and coordinating the behavior of robots in the group has been developed. Finite-state machine is used to describe the logical level of control system for each robot in the group. Results: The structure of the logical level of the group robots control system is developed, which includes a network of interacting finite-state machines and provides a simple scaling of the system when the number of robots changes. In the ros_stage environment the simulation result about the group behavior with various changes of its topology is presented. Practical significance: The proposed solution provides high functionality of the group robot, taking into account the SEMS ideology, which allows perform tasks related to change the dislocation of mobile robots during the transportation of cargos.