Abstract
Problem formulation: An important class of group robotics tasks is the problem of spotting the extreme of an unknown scalar physical field using a robots group. For instance, the task of robotic detection of radioactive, chesmical, biological zones or other contamination of land, air or water can be set in the same mode. The methodological basis of the work is the bionic approach, the essence of which is to build a control system for a robots group through the usage algorithms inspired by nature and human society. Purpose: Development of a decentralized robots group control system, which feature small autonomous shooting satellite robots. Methods: An original meta-heuristic robots group decentralized control (RGDC) algorithm for solving the problem, based on the Intelligent Ice Fishing algorithm, which was proposed by the authors earlier, is offered. The main procedures of the algorithm are: the local optimization in the region of the current position of the robot; near relocation of the robot in the case where there is a stagnation of the local search process or when the advances of one of its closest neighbors “significantly” exceed the advances of the robot; far relocation, if there is a stagnation of the search process and the advances of its closest neighbors “do not significantly” exceed the advances of the robot. Results: A software that simulates a group of robots functioning has been developed. The software implements the proposed method of controlling the considering group of robots. A significant number of computational experiments were performed to estimate the effectiveness of the method on a number of test three-dimensional multi-extreme problems. The results of the study show a satisfactory, from a practical point of view, probability of the global extreme localization. Discussion: The results of the research are planned to be used in the development of the control system of the group robotic system.
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Karpenko, A.P., Kuzmina, I.A. (2021). Meta-Heuristic Algorithm for Decentralized Control of a Robots Group to Search for the Maximum of an Unknown Scalar Physical Field. In: Gorodetskiy, A.E., Tarasova, I.L. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 352. Springer, Cham. https://doi.org/10.1007/978-3-030-68172-2_9
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