The study of the polymodel complex of the motion planning system of a heterogeneous group of autonomous robots in conditions of spatial-situational uncertainty
Dmitrii Motorin · Robotics and Technical Cybernetics · 2019
The upper level of robot group control is a system of planning of traffic and cooperative actions while solving global tasks. The main parts of such systems are a realistic presentation of the environment and ability to plan trajectories. The aim of this work is to create and study a model that allows you to generate realistic environments with given parameters and plan the movement of a robot group in them. The unit for generating discrete media, fractal surfaces and multilayer spaces is considered. The algorithms of motion planning in generated environments are analyzed. The model implements algorithms for resolving collisions, simulating the dynamics of environmental properties and visualizing the results. The model allows you to simulate random and repetitive dynamic processes occurring in the environment of the robots’ motions. The individual characteristics of the robot-environment interaction are set by the coefficients of the influence of space on the energy characteristics of the controlled object. The results of the research are the dependences of the calculation time on the size and type of the map, the use of which allows us to evaluate the computational complexity depending on the required detail of the task. The scope of the considered model is the analysis of the characteristics of the top-level control systems of a group of heterogeneous robots under conditions of spatial and situational uncertainty.