CONTROLLING THE MOVEMENT OF A GROUP OF UAVS IN COMPLIANCE WITH THE GEOMETRIC STRUCTURE OF THE FORMATION BASED ON ALTERNATIVE COLLECTIVE ADAPTATION
Keywords:
Swarm of robots, control system, unmanned aerial vehicles, geometric structure of the formation, finite state machine, decentralized interaction, collective alternative adaptation, multi-agent system
Abstract
The main way to solve problems of planning and traffic control is the use of intelligent technologies.
At the same time, intelligent technologies are used to solve the problems of setting and adjusting
control goals and action programs to implement these goals, as well as to form a control
algorithm under conditions of uncertainty caused by various factors in actuators, the motion control
subsystem, and the planning and behavior subsystem. This work is devoted to the actual problem of
mathematical modeling and control theory: the problem of decentralized control of a multi-agent
system consisting of agents modeling the behavior of autonomous robots in order to ensure the movement of a group of robots deployed in a line and in a «convoy» type formation. The paper examines
the results of research in the field of controlling a group of unmanned aerial vehicles, identifies
the types of tasks that can be performed by a group of aerial robots, and highlights the main control
strategies and their features. The general positions necessary for the development of a detailed group
control algorithm have been formed. Each robot must navigate in space autonomously without GPS
using signals from its own camera or lidar (active rangefinder), identify obstacles, build optimal
paths of movement and make decisions aimed at achieving the goal and completing the task. Management
is carried out using an alternative collective adaptation algorithm, based on the ideas of
collective behavior of adaptation objects. To implement the adaptation mechanism, the vector parameters
are matched with adaptation automata that model the behavior of adaptation objects in the
environment. A structure for the process of alternative collective adaptation has been developed,
under the control of which a group of robots moves in formation
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issledovaniya algoritmov funktsionirovaniya roya bespilotnykh letatel'nykh apparatov [Analysis
of the application of intelligence of living organisms to study algorithms for the functioning
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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.
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kompleksov [Implementation of new services using robotic systems], Slavyanskiy forum [Slavic
Forum], 2021, No. 4 (34), pp. 162-170.
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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.
Published
2024-04-15
Issue
Section
SECTION II. CONTROL AND SIMULATION SYSTEMS
