Study of Algorithms for Coordinating a Group of Autonomous Robots in a Formation

Abstract

AbstractThis article is devoted to the study of the accuracy of maintaining formation by a group of unmanned aerial vehicles (UAVs) using a motion planning algorithm with a leader and a swarm algorithm. Accuracy is investigated depending on the errors and frequency of navigation data updates. In the leader mode, all UAVs determine their coordinates at discrete times using an external navigation system. Slave UAVs receive the coordinates of the leader at the same time points. Based on the data obtained, a given formation is achieved. In the swarm mode, all UAVs determine their coordinates at discrete times and exchange their coordinates with their neighbors using an external navigation system. The simulation takes into account models of kinematics, dynamics, and actuators, as well as models for the formation of navigation system errors. The model of movement of a group of four quadrocopters is considered. The navigation system model takes into account random errors in the form of color noise and errors of the navigation system. Delays in the communication system channels are also taken into account. The described algorithms are investigated in the article by numerical simulation methods.KeywordsAchieving formationLeader algorithmSwarm algorithmPath planningMotion control