Simulation in MATLAB motion of the mobile robots group when working in the industrial-urban environment

Rubtsov, V. I.; Raskatov, Vadim D.

doi:10.1063/1.5140115

Cited by 3 publications

References 6 publications

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Computer Simulation of a Group of Mobile Robots in Special Software Tools

Raskatov

Rubtsov

2020

ITM Web Conf.

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The problem of controlling a group of special robots for application in the high-risk conditions (for example, for fire extinguishing, search for hazardous substances, or elimination of consequences of emergencies) is solved. According to the task, robots operate in the industrial and urban environment, i.e., the movement of robots is planar. Various strategies of group interaction between robots are analyzed; a literature review is conducted. Due to the task specifics, a decentralized management strategy has been selected. For solving the problem, a movement algorithm of a group of mobile robots with a subsequent visual check of the resulting algorithm operation is proposed. Implementation of the algorithm’s work is performed in the MATLAB environment. For preliminary algorithm verification and modeling of various dangerous cases, a model of robot group using the Mobile Robotics Simulation Toolbox of MATLAB was made. For a more detailed and accurate analysis of the real robot’s behavior, a model in the ROS package has been developed. That model interacts with the developed algorithm through the ROS Toolbox package of MATLAB. This software can be used for the training of engineering staff in the field of mathematical modeling, group control, and multi-agent systems. As a result of verification, the program and the model successfully solve the task. Yet, the model in the ROS package requires greater computational power because of the large number of complex calculations.

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Computer Simulation of a Group of Mobile Robots in Special Software Tools

Raskatov

Rubtsov

2020

ITM Web Conf.

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Mathematical modeling of a throttle flow divider

Rubtsov,

Kalinin

2023

The International Conference on Battery for Renewable Energy and Electric Vehicles (Icb-Rev) 2022

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Multi-Level Control System for an Intelligent Robot that is Part of a Group

Rubtsov

Mashkov

Konovalov

2021

Mehatronika, avtomatizaciâ, upravlenie

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The article is devoted to the application of a group of robotic complexes for military purposes. The current state of control systems of single robotic complexes does not allow solving all the tasks assigned to the robot. The analysis of methods of controlling a group of robots in combat conditions is carried out. The necessity of using a multi-level control system for an intelligent combat robot is justified. A multi-level control system for an intelligent robot is proposed. Such a system assumes the possibility of controlling the robot in one of four modes: remote, supervisory, autonomous and group. Moreover, each robot, depending on the external conditions and its condition, can be in any control mode. The application of the technique is shown by the example of the movement of a group of robots with an interval along the front. The problem of the movement of slave robots behind the leader is considered. When forming the robot control algorithm, the method of finite automata was used. The algorithm controls the movement of the RTK in various operating modes: group control mode and autonomous movement mode. In the group control mode, the task is implemented: movement for the leader. For the state of "Movement in formation", an algorithm for forming the trajectory of the movement of guided robots was implemented. An algorithm for approximating the Bezier curve was used. It allows you to build a trajectory for the slave robot. On the basis of the obtained trajectory, the angular and linear velocity were calculated. In the autonomous control mode, two tasks are solved: moving to a given point and avoiding obstacles. Vector Field Histogram was used as an algorithm for detouring an obstacle, which determines the direction of movement without obstacles. The state of "Movement to a given point" is based on Pure Pursuit as a simple and reliable algorithm for solving such problems. A computer model of the movement of a group of robots was developed. The model is implemented in the MATLAB program using the Simulink and Mobile Robotics Simulation Toolbox libraries. Several different variants of the movement of the RTK group are modeled, which differ from each other in the initial location of the robots and the position of obstacles. The conducted computer simulation showed the efficiency and effectiveness of the proposed method of RTC control.

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Simulation in MATLAB motion of the mobile robots group when working in the industrial-urban environment

Cited by 3 publications

References 6 publications

Computer Simulation of a Group of Mobile Robots in Special Software Tools

Computer Simulation of a Group of Mobile Robots in Special Software Tools

Mathematical modeling of a throttle flow divider

Multi-Level Control System for an Intelligent Robot that is Part of a Group

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