Simulations of Computer, Telecommunications, Control and Social Systems

Research of the algorithms of individual and group movement strategies of autonomous mobile robots on a dynamic map

S. G. Popov, D. E. Motorin

Peter the Great Saint-Petersburg Polytechnic University

Abstract: The paper considers the solution to the problem of two robots moving towards the target using the algorithm of individual and group strategy motion on a dynamic terrestrial map with variable parameters of the wireless connection radius and the visibility radius. The authors offer a distribution algorithm of path selection which helps robots using limited information to solve the problem of moving towards the target together. MatLab was used for programming and analyzing the algorithms. The results of the simulation show that the group strategy is more effective with a high density of the obstacles on the map and a high dynamic. The results can be used for simulating the individual and group strategies of movement in the conditions of limited radio and visual radius in a dynamically changing environment.

Keywords: group of robots, individual control strategy, group control strategy, dynamic map, motion algorithm.

UDC: 519.876.5, 004.896:621.865

DOI: 10.5862/JCSTCS.241.5