Abstract
The article proposes a method of searching for the best configurations of modular robots in unknown operating conditions, which can significantly reduce the number of robot performance tests. The problem of transporting goods with the help of a group of robots, which can be composed in different ways from identical modules, is considered. The product of the total number of modules and the transportation time is used as a performance index of the robot configuration. The search algorithm is based on multicriteria analysis of the vector characteristics of robots using the methods of criteria importance theory. A procedure for finding out information about preferences in the form of the relative importance of criteria is described, which requires testing with a small number of reference robot configurations. A numerical experiment with a simple simulation model was carried out under 1000 different terrain conditions. The proposed method has shown high efficiency in reducing the search area at a low frequency and size of the error.
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