УПРАВЛЕНИЕ ПЕРЕДВИЖЕНИЕМ ГРУППЫ БПЛА С СОБЛЮДЕНИЕМ ГЕОМЕТРИЧЕСКОЙ СТРУКТУРЫ СТРОЯ НА ОСНОВЕ АЛЬТЕРНАТИВНОЙ КОЛЛЕКТИВНОЙ АДАПТАЦИИ
Ключевые слова:
Рой роботов, система управления, беспилотные летательные аппараты, геометрическая структура строя, конечный автомат, децентрализованное взаимодействие, коллективная альтернативная адаптация, мультиагентная система
Аннотация
Основным способом решения задач планирования и управления движением является ис-
пользование интеллектуальных технологий. При этом интеллектуальные технологии применя-
ются для решения задач постановки и корректировки целей управления и программы действий
по реализации этих целей, а также для формирования алгоритма управления в условиях неопре-
деленности, обусловленной различными факторами, в исполнительных элементах, подсистеме
управления движением, подсистеме планирования и поведения. Данная работа посвящена акту-
альной проблеме математического моделирования и теории управления: задаче децентрализо-
ванного управления мультиагентной системой, состоящей из агентов, моделирующих поведе-
ние автономных роботов, с целью обеспечения движения группы роботов, развернутых в линию
и в строю типа «конвой». В работе рассматриваются результаты исследований в сфере
управления группой беспилотных летательных аппаратов, определены типы задач, которые
могут выполняться группой воздушных роботов, выделены основные стратегии управления и
их особенности. Сформированы общие позиции, необходимые для разработки детализирован-
ного алгоритма группового управления. Каждый робот должен ориентироваться в простран-
стве автономно без GPS по сигналам с собственной камеры или лидара (активного дальномера)
определять помехи, выстраивать оптимальные пути движения и принимать решения, направ-
ленные на достижения цели и выполнения задачи. Управление осуществляется с помощью алго-
ритма альтернативной коллективной адаптации, основанного на идеях коллективного поведе-
ния объектов адаптации. Для реализации механизма адаптации параметрам вектора сопос-
тавляются автоматы адаптации, моделирующие поведение объектов адаптации в среде. Раз-
работана структура процесса альтернативной коллективной адаптации, под управлением
которой осуществляется передвижение группы роботов в строю
Литература
1. Karpov V.E. Kollektivnoe povedenie robotov. Zhelaemoe i deystvitel'noe [Collective behavior
of robots. Desired and real], Sovremennaya mekhatronika: Sb. nauchn. trudov Vserossiyskoy
nauchnoy shkoly [Modern mechatronics. Proceedings of the All-Russian Scientific School],
2011, pp. 35-51.
2. Karpenko A.P. Sovremennye algoritmy poiskovoy optimizatsii. Algoritmy, vdokhnovlennye
prirodoy: ucheb. posobie [Modern search engine optimization algorithms. Algorithms inspired
by nature: а tutorial]. 3rd ed. Moscow: Izd-vo MGTU im. N.E. Baumana, 2021, 448 p.
3. Kalyaev I.A., Gayduk A.R., Kapustyan S.G. Metody i modeli kollektivnogo upravleniya v
gruppakh robotov [Methods and models of collective management in groups of robots]. Moscow:
Fizmatlit, 2009, 280 p.
4. Morozova N.S. Detsentralizovannoe upravlenie dvizheniem stroya robotov pri dinamicheski
izmenyayushchikhsya usloviyakh [Decentralized control of the movement of robots in a dynamically
changing environment], Iskusstvennyy intellekt i prinyatie resheniy [Artificial Intelligence
and Decision Making], 2015, Vol. 1, pp. 65-74.
5. Burdakov S.F., Sizov P.A. Algoritmy upravleniya dvizheniem mobil'nogo robota v zadache
presledovaniya [Algorithms for controlling the motion of a mobile robot in the pursuit problem],
Informatika, telekommunikatsii i upravlenie [Informatics, Telecommunications and
Management], 2014, No. 6 (210), pp. 49-58.
6. Zenkevich S.L., Chzhu Kh. Upravlenie dvizheniem gruppy robotov v stroyu tipa «konvoy»
[Movement control of a group of robots in an «escort» type formation], Mekhatronika,
avtomatizatsiya, upravlenie [Mechatronics, automation, control], 2017, Vol. 18 (1), pp. 30-34.
7. Lebedev B.K., Lebedev O.B., Lebedeva E.M. Gibridnyy algoritm situatsionnogo planirovaniya
traektorii na ploskosti v usloviyakh chastichnoy neopredelennosti [Hybrid algorithm for situational
planning of a trajectory on a plane under conditions of partial uncertainty], Vestnik
MGTU im. N.E. Baumana. Ser. Priborostroenie [Vestnik MGTU im. N.E. Bauman. Ser. Instrumentation],
2018, No. 1, pp. 76-93.
8. Veselov G.E., Lebedev B.K., Lebedev O.B. Upravlenie dvizheniem gruppy mobil'nykh robotov
v kolonne [Controlling the movement of a group of mobile robots in a column], Nauchnoprakticheskiy
zhurnal Informatizatsiya i svyaz' [Scientific and practical journal Informatization
and communication], 2021, No. 3,Spp 7-11.
9. Veselov G.E., Lebedev B.K., Lebedev O.B. Adaptivnoe upravlenie peredvizheniem kollektiva
mobil'nykh robotov razvernutykh v liniyu [Adaptive control of the movement of a group of
mobile robots deployed in a line], Integrirovannye modeli i myagkie vychisleniya v
iskusstvennom intellekte: Sb. nauchnykh trudov X-y Mezhdunarodnoy nauchno-tekhnicheskoy
konferentsii (IMMV-2021) [Integrated models and soft computing in artificial intelligence.
Collection of scientific papers of the Xth International Scientific and Technical Conference].
Smolensk: Universum, 2021, pp. 238-246.
10. Veselov G.E., Lebedev B.K., Lebedev O.B. Management of Behavior of a Swarm of Robots
Applicable to the Tasks of Monitoring a Some Territory, Artificial Intelligence Methods in Intelligent
Algorithms. Proceedings of the 9th Computer Science On-line Conference. Springer,
Czech Republic, 2020, Vol. 2, pp. 324-332.
11. Kuznetsov A.V. Model' dvizheniya i vzaimodeystviya sistemy intellektual'nykh agentov [Model
of motion and interaction of the system of intelligent agents], Vestnik VGU. Seriya:
Sistemnyy analiz i informatsionnye tekhnologii [Bulletin of VSU. System Analysis and Information
Technology], 2018, No. 2, pp. 130-138.
12. Kureychik V.M., Lebedev B.K., Lebedev O.B. Poiskovaya adaptatsiya: Teoriya i praktika
[Search Engine Adaptation: Theory and Practice]. Moscow: Fizmatlit, 2006, 272 p.
13. Ivanov S.V., Sokolov O.D., Besedin S.A., Egorov M.O., Andriyanov E.A. Sistemy primeneniya
roevogo intellekta bespilotnymi letatel'nymi apparatami na baze pchelinogo algoritma [Systems for
the use of swarm intelligence by unmanned aerial vehicles based on the bee algorithm],
Informatsionnaya bezopasnost' – aktual'naya problema sovremennosti. Sovershenstvovanie
obrazovatel'nykh tekhnologiy podgotovki spetsialistov v oblasti informatsionnoy bezopasnosti [Information
security – an urgent problem of our time. Improving educational technologies for training
specialists in the field of information security], 2018, No. 1 (9), pp. 329-334.
14. Ivanov S.V., Pshenichnyy F.I. Analiz primeneniya intellekta zhivykh organizmov dlya
issledovaniya algoritmov funktsionirovaniya roya bespilotnykh letatel'nykh apparatov [Analysis
of the application of intelligence of living organisms to study algorithms for the functioning
of a swarm of unmanned aerial vehicles], Aktual'nye issledovaniya [Current Research], 2020,
No. 21 (24), pp. 28-32.
15. Uspanova R.A. Aktual'nye problemy upravleniya gruppoy BPLA [Current problems of managing a
group of UAVs], Tr. trinadtsatoy obshcherossiyskoy molodezhnoy nauchno-tekhnicheskoy
konferentsii: v 2-kh t. Ser. Biblioteka zhurnala «Voenmekh. Vestnik BGTU» [Proceedings of the thirteenth
all-Russian youth scientific and technical conference: in 2 vol. Ser. Library of the magazine
«Voenmekh. Bulletin of BSTU»]. St. Petersburg, 2021, No. 76, pp. 128-130.
16. Baygutlina I.A. Realizatsiya novykh servisov s ispol'zovaniem robototekhnicheskikh
kompleksov [Implementation of new services using robotic systems], Slavyanskiy forum [Slavic
Forum], 2021, No. 4 (34), pp. 162-170.
17. Shcherbakov G.N., Rusin P.V., Rychkov A.V., Uzhitsin M.V., Efremov I.A. Aktual'nost'
zashchity ob"ektov ot mikro-BPLA, letyashchikh na predel'no malykh vysotakh [Relevance of
protecting objects from micro-UAVs flying at extremely low altitudes], Bezopasnost'
zhiznedeyatel'nosti [Life Safety], 2020, No. 5 (233), pp. 53-59.
18. Chekalina E.A., Dmitrenko M.E., Popov A.I. Upravlenie roem bespilotnykh letatel'nykh
apparatov v takticheskom zvene upravleniya [Controlling a swarm of unmanned aerial vehicles
at the tactical control level], Tekhnologii. Innovatsii. Svyaz': Sb. materialov nauchnoprakticheskoy
konferentsii [Technologies. Innovation. Communication: Collection of materials
of the scientific and practical conference]. St. Petersburg, 2022, pp. 181-185.
19. Lebedev B.K., Lebedev O.B. Planirovanie dvukhmernoy traektorii v usloviyakh chastichnoy
neopredelennosti na osnove integratsii volnovogo i murav'inogo algoritmov [Planning a twodimensional
trajectory under conditions of partial uncertainty based on the integration of wave and
ant algorithms], 5-ya Vserossiyskaya Pospelovskaya konferentsiya s mezhdunarodnym uchastiem
«Gibridnye i sinergeticheskie intellektual'nye sistemy» GISIS’2020 [5th All-Russian Pospelov Conference
with international participation «Hybrid and synergetic intelligent systems» GISIS’2020].
Zelenogradsk: Izd-vo Baltiyskiy federal'nyy universitet im. Immanuila Kanta, 2020, pp. 87-94.
20. Gorodetskiy V.I. Upravlenie kollektivnym povedeniem robotov v avtonomnoy missii [Controlling
collective behavior of robots in an autonomous mission], Robototekhnika i tekhnicheskaya
kibernetika [Robotics and technical cybernetics], 2016, No. 1 (10), pp. 40-54.
21. Muslimov T.Z., Munasypov R.A. Detsentralizovannoe upravlenie krugovymi formatsiyami
bespilotnykh letatel'nykh apparatov na osnove metoda vektornogo polya [Decentralized
control of circular formations of unmanned aerial vehicles based on the vector field method],
Vestnik UGATU [Vestnik UGATU], 2019, Vol. 23, No. 3(85), pp. 112-121.
22. Medvedev yu.M., Pshikhopov V.Kh. i dr. Intellektual'noe planirovanie traektoriy podvizhnykh
ob"ektov v sredakh s prepyatstviyami [Intelligent planning of vehicles path in the environment
with obstacles], ed. by V.Kh. Pshikhopova. Moscow: Fizmatlit, 2014, 300 p.
23. Pshikhopov V.Kh., Medvedev M.Yu., Gurenko B.V. Algoritmy adaptivnykh pozitsionno-traektornykh
sistem upravleniya podvizhnymi ob"ektami [Algorithms for adaptive position-trajectory control
systems for moving objects], Problemy upravleniya [Control problems], 2015, pp. 66-74.
of robots. Desired and real], Sovremennaya mekhatronika: Sb. nauchn. trudov Vserossiyskoy
nauchnoy shkoly [Modern mechatronics. Proceedings of the All-Russian Scientific School],
2011, pp. 35-51.
2. Karpenko A.P. Sovremennye algoritmy poiskovoy optimizatsii. Algoritmy, vdokhnovlennye
prirodoy: ucheb. posobie [Modern search engine optimization algorithms. Algorithms inspired
by nature: а tutorial]. 3rd ed. Moscow: Izd-vo MGTU im. N.E. Baumana, 2021, 448 p.
3. Kalyaev I.A., Gayduk A.R., Kapustyan S.G. Metody i modeli kollektivnogo upravleniya v
gruppakh robotov [Methods and models of collective management in groups of robots]. Moscow:
Fizmatlit, 2009, 280 p.
4. Morozova N.S. Detsentralizovannoe upravlenie dvizheniem stroya robotov pri dinamicheski
izmenyayushchikhsya usloviyakh [Decentralized control of the movement of robots in a dynamically
changing environment], Iskusstvennyy intellekt i prinyatie resheniy [Artificial Intelligence
and Decision Making], 2015, Vol. 1, pp. 65-74.
5. Burdakov S.F., Sizov P.A. Algoritmy upravleniya dvizheniem mobil'nogo robota v zadache
presledovaniya [Algorithms for controlling the motion of a mobile robot in the pursuit problem],
Informatika, telekommunikatsii i upravlenie [Informatics, Telecommunications and
Management], 2014, No. 6 (210), pp. 49-58.
6. Zenkevich S.L., Chzhu Kh. Upravlenie dvizheniem gruppy robotov v stroyu tipa «konvoy»
[Movement control of a group of robots in an «escort» type formation], Mekhatronika,
avtomatizatsiya, upravlenie [Mechatronics, automation, control], 2017, Vol. 18 (1), pp. 30-34.
7. Lebedev B.K., Lebedev O.B., Lebedeva E.M. Gibridnyy algoritm situatsionnogo planirovaniya
traektorii na ploskosti v usloviyakh chastichnoy neopredelennosti [Hybrid algorithm for situational
planning of a trajectory on a plane under conditions of partial uncertainty], Vestnik
MGTU im. N.E. Baumana. Ser. Priborostroenie [Vestnik MGTU im. N.E. Bauman. Ser. Instrumentation],
2018, No. 1, pp. 76-93.
8. Veselov G.E., Lebedev B.K., Lebedev O.B. Upravlenie dvizheniem gruppy mobil'nykh robotov
v kolonne [Controlling the movement of a group of mobile robots in a column], Nauchnoprakticheskiy
zhurnal Informatizatsiya i svyaz' [Scientific and practical journal Informatization
and communication], 2021, No. 3,Spp 7-11.
9. Veselov G.E., Lebedev B.K., Lebedev O.B. Adaptivnoe upravlenie peredvizheniem kollektiva
mobil'nykh robotov razvernutykh v liniyu [Adaptive control of the movement of a group of
mobile robots deployed in a line], Integrirovannye modeli i myagkie vychisleniya v
iskusstvennom intellekte: Sb. nauchnykh trudov X-y Mezhdunarodnoy nauchno-tekhnicheskoy
konferentsii (IMMV-2021) [Integrated models and soft computing in artificial intelligence.
Collection of scientific papers of the Xth International Scientific and Technical Conference].
Smolensk: Universum, 2021, pp. 238-246.
10. Veselov G.E., Lebedev B.K., Lebedev O.B. Management of Behavior of a Swarm of Robots
Applicable to the Tasks of Monitoring a Some Territory, Artificial Intelligence Methods in Intelligent
Algorithms. Proceedings of the 9th Computer Science On-line Conference. Springer,
Czech Republic, 2020, Vol. 2, pp. 324-332.
11. Kuznetsov A.V. Model' dvizheniya i vzaimodeystviya sistemy intellektual'nykh agentov [Model
of motion and interaction of the system of intelligent agents], Vestnik VGU. Seriya:
Sistemnyy analiz i informatsionnye tekhnologii [Bulletin of VSU. System Analysis and Information
Technology], 2018, No. 2, pp. 130-138.
12. Kureychik V.M., Lebedev B.K., Lebedev O.B. Poiskovaya adaptatsiya: Teoriya i praktika
[Search Engine Adaptation: Theory and Practice]. Moscow: Fizmatlit, 2006, 272 p.
13. Ivanov S.V., Sokolov O.D., Besedin S.A., Egorov M.O., Andriyanov E.A. Sistemy primeneniya
roevogo intellekta bespilotnymi letatel'nymi apparatami na baze pchelinogo algoritma [Systems for
the use of swarm intelligence by unmanned aerial vehicles based on the bee algorithm],
Informatsionnaya bezopasnost' – aktual'naya problema sovremennosti. Sovershenstvovanie
obrazovatel'nykh tekhnologiy podgotovki spetsialistov v oblasti informatsionnoy bezopasnosti [Information
security – an urgent problem of our time. Improving educational technologies for training
specialists in the field of information security], 2018, No. 1 (9), pp. 329-334.
14. Ivanov S.V., Pshenichnyy F.I. Analiz primeneniya intellekta zhivykh organizmov dlya
issledovaniya algoritmov funktsionirovaniya roya bespilotnykh letatel'nykh apparatov [Analysis
of the application of intelligence of living organisms to study algorithms for the functioning
of a swarm of unmanned aerial vehicles], Aktual'nye issledovaniya [Current Research], 2020,
No. 21 (24), pp. 28-32.
15. Uspanova R.A. Aktual'nye problemy upravleniya gruppoy BPLA [Current problems of managing a
group of UAVs], Tr. trinadtsatoy obshcherossiyskoy molodezhnoy nauchno-tekhnicheskoy
konferentsii: v 2-kh t. Ser. Biblioteka zhurnala «Voenmekh. Vestnik BGTU» [Proceedings of the thirteenth
all-Russian youth scientific and technical conference: in 2 vol. Ser. Library of the magazine
«Voenmekh. Bulletin of BSTU»]. St. Petersburg, 2021, No. 76, pp. 128-130.
16. Baygutlina I.A. Realizatsiya novykh servisov s ispol'zovaniem robototekhnicheskikh
kompleksov [Implementation of new services using robotic systems], Slavyanskiy forum [Slavic
Forum], 2021, No. 4 (34), pp. 162-170.
17. Shcherbakov G.N., Rusin P.V., Rychkov A.V., Uzhitsin M.V., Efremov I.A. Aktual'nost'
zashchity ob"ektov ot mikro-BPLA, letyashchikh na predel'no malykh vysotakh [Relevance of
protecting objects from micro-UAVs flying at extremely low altitudes], Bezopasnost'
zhiznedeyatel'nosti [Life Safety], 2020, No. 5 (233), pp. 53-59.
18. Chekalina E.A., Dmitrenko M.E., Popov A.I. Upravlenie roem bespilotnykh letatel'nykh
apparatov v takticheskom zvene upravleniya [Controlling a swarm of unmanned aerial vehicles
at the tactical control level], Tekhnologii. Innovatsii. Svyaz': Sb. materialov nauchnoprakticheskoy
konferentsii [Technologies. Innovation. Communication: Collection of materials
of the scientific and practical conference]. St. Petersburg, 2022, pp. 181-185.
19. Lebedev B.K., Lebedev O.B. Planirovanie dvukhmernoy traektorii v usloviyakh chastichnoy
neopredelennosti na osnove integratsii volnovogo i murav'inogo algoritmov [Planning a twodimensional
trajectory under conditions of partial uncertainty based on the integration of wave and
ant algorithms], 5-ya Vserossiyskaya Pospelovskaya konferentsiya s mezhdunarodnym uchastiem
«Gibridnye i sinergeticheskie intellektual'nye sistemy» GISIS’2020 [5th All-Russian Pospelov Conference
with international participation «Hybrid and synergetic intelligent systems» GISIS’2020].
Zelenogradsk: Izd-vo Baltiyskiy federal'nyy universitet im. Immanuila Kanta, 2020, pp. 87-94.
20. Gorodetskiy V.I. Upravlenie kollektivnym povedeniem robotov v avtonomnoy missii [Controlling
collective behavior of robots in an autonomous mission], Robototekhnika i tekhnicheskaya
kibernetika [Robotics and technical cybernetics], 2016, No. 1 (10), pp. 40-54.
21. Muslimov T.Z., Munasypov R.A. Detsentralizovannoe upravlenie krugovymi formatsiyami
bespilotnykh letatel'nykh apparatov na osnove metoda vektornogo polya [Decentralized
control of circular formations of unmanned aerial vehicles based on the vector field method],
Vestnik UGATU [Vestnik UGATU], 2019, Vol. 23, No. 3(85), pp. 112-121.
22. Medvedev yu.M., Pshikhopov V.Kh. i dr. Intellektual'noe planirovanie traektoriy podvizhnykh
ob"ektov v sredakh s prepyatstviyami [Intelligent planning of vehicles path in the environment
with obstacles], ed. by V.Kh. Pshikhopova. Moscow: Fizmatlit, 2014, 300 p.
23. Pshikhopov V.Kh., Medvedev M.Yu., Gurenko B.V. Algoritmy adaptivnykh pozitsionno-traektornykh
sistem upravleniya podvizhnymi ob"ektami [Algorithms for adaptive position-trajectory control
systems for moving objects], Problemy upravleniya [Control problems], 2015, pp. 66-74.
