Abstract
When solving the problem of organizing energy consumption within a group of mobile robotic objects, stationary charging stations can be used. When solving the problem of optimizing such energy consumption, the problem of increasing the efficiency of interaction between the elements of the group with such stations arises. This problem can be solved by using a decentralized method of managing a system that includes a group of these moving objects and recharging stations. This article develops the concept of interaction between mobile and stationary objects, which implies the possibility of choosing by each interaction agent the corresponding companion. Such a choice is made taking into account the current state of the system and an assessment of the history of interaction results. The developed concept is detailed for a system that includes unmanned aerial vehicles and their recharging stations. In this case, the energy efficiency of the charging process and the time taken by the unmanned aerial vehicles to reach the target point are key indicators when choosing pairs of interacting elements. An optimization procedure has been developed that finds the number of the charging station that is most suitable for a given mobile object for interaction.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Gupta, L., Jain, R., Vaszkun, G.: Survey of important issues in UAV communication networks. IEEE Commun. Surv. Tutorials 18(2), 1123–1152 (2015)
Hassija, V., Chamola, V., Krishna, D.N.G., Guizani, M.: A distributed framework for energy trading between UAVs and charging stations for critical applications. IEEE Trans. Veh. Technol. 69(5), 5391–5402 (2020)
Li, L., Wu, J., Xu, Y., Che, J., Liang, J.: Energy-controlled optimization algorithm for rechargeable unmanned aerial vehicle network. In: 2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA), pp. 1337–1342 (2017)
Hanyu, A., Kawamoto, Y., Kato, N.: On improving flight energy efficiency in simultaneous transmission and reception of relay using UAVs. In: 2019 15th International Wireless Communications and Mobile Computing Conference (IWCMC), pp. 967–972 (2019)
Ippolito, M.: Electrically charging system for drones. WO Patent 2016/113766, 7 January 2016 (2016)
Wang, M.: Systems and methods for UAV battery exchange. US Patent 9139310B1, 22 September 2015 (2015)
Gentry, N.K., Hsieh, К., Nguyen, L.K.: Multi-use UAV docking station systems and methods. US Patent 9387928B1, 12 July 2016
Voronov, A.A.: Introduction to the dynamics of complex controlled systems. Science, Moscow (in Russ.) (1985)
Ghadami, R., Shafai, B.: Decomposition-based distributed control for continuous-time multi-agent systems. IEEE Trans. Autom. Control 58(1), 258–264 (2012)
Borrelli, F., Keviczky, T.: Distributed LQR design for identical dynamically decoupled systems. IEEE Trans. Autom. Control 53(8), 1901–1912 (2008)
Pervozvanskiy, A.A., Gaytsgori, V.G.: Decomposition, aggregation, and approximate optimization. Science, Moscow (in Russian) (1979)
Abgaryan, K.A.: Splitting of a singularly perturbed multitamp system. Bull. Acad. Sci. Armenian SSR, Math. 5, 327–337 (1979)
Fradkov, A.L.: Adaptive management in complex systems: searchless methods. Science, Moscow (in Russ.) (1990)
Kamachkin, A.M., Shamberov, V.N.: Decomposition method in multidimensional nonlinear dynamical systems. Voronezh State University Bulletin. Series: Syst. Anal. Inf. Technol. 1, 47–55 (2012) (in Russ.)
Abgaryan, K.A.: Asymptotic splitting of equations of a linear automatic control system. Reports USSR Acad. Sci. 166(2), 301–304 (1966)
Yuriev, B.N.: Aerodynamic Calculation of Helicopters. State Defense Industry Publishing House, Moscow (in Russian) (1956)
Kostyukov, V.A., Medvedev, M.Y., Poluyanovich, N.K., Dubygo, M.N.: Features of electromechanical control of a complex power plant with a vortex-type wind-conversion device. In: Cyber-Physical Systems: Industry 4.0 Challenges, pp. 159–166 (2020)
Acknowledgements
This work has been supported by the grant of the Russian Science Foundation No. 22-29-00370 performed at the Research and Design Bureau of Robotics and Control Systems.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Kostyukov, V., Pshikhopov, V. (2023). System of Decentralized Control of a Group of Mobile Robotic Means Interacting with Charging Stations. In: Ronzhin, A., Pshikhopov, V. (eds) Frontiers in Robotics and Electromechanics. Smart Innovation, Systems and Technologies, vol 329. Springer, Singapore. https://doi.org/10.1007/978-981-19-7685-8_16
Download citation
DOI: https://doi.org/10.1007/978-981-19-7685-8_16
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-19-7684-1
Online ISBN: 978-981-19-7685-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)