DEVELOPMENT OF AN ALGORITHM FOR CONTROLLING A DENSE CONFIGURATION OF A GROUP OF MOBILE ROBOTS
Yu.N. Zolotukhin, K.Yu. Kotov, M.A. Mashkov
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: heuristic methods, group configuration control, real-time software simulation, numerical simulation
Abstract
The development of a decentralized control algorithm for a dense configuration of a group of mobile robots is considered. A modification of the heuristic algorithm is presented, which includes adaptive parameters for robot interaction, enhanced attraction to the target position in the near zone, and an angular displacement mechanism to reduce the effect of local minima. A software system for numerical simulation based on ROS and Gazebo has been developed to study the reconfiguration processes in a group of mobile robots. The effectiveness of the proposed algorithm is assessed through numerical simulation and comparative analysis with a classical control algorithm.
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