Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy

Multifunctional modular robots consist of a set of modules that can form a kinematic structure in accordance with the current task. When operating in a non-deterministic environment, the adaptive kinematic structure of the robot allows you to change the configuration and adapt to changing conditions...

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主要な著者:	Petrenko, V. I., Петренко, В. И., Tebueva, F. B., Тебуева, Ф. Б., Pavlov, A. S., Павлов, А. С., Antonov, V. O., Антонов, В. О., Kochanov, М., Кочанов, М.
フォーマット:	Статья
言語:	English
出版事項:	ATLANTIS PRESS 2020
主題:	Formation of the configuration Swarm intelligence Group control Modular robotics Path planning
オンライン･アクセス:	https://dspace.ncfu.ru/handle/20.500.12258/14503
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id	ir-20.500.12258-14503
record_format	dspace
spelling	ir-20.500.12258-145032020-10-21T08:36:31Z Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Kochanov, М. Кочанов, М. Formation of the configuration Swarm intelligence Group control Modular robotics Path planning Multifunctional modular robots consist of a set of modules that can form a kinematic structure in accordance with the current task. When operating in a non-deterministic environment, the adaptive kinematic structure of the robot allows you to change the configuration and adapt to changing conditions and the limitations of the environment. However, the formation of the required configuration can take a lot of time, which is a problem when it is needed to perform the objective function in real time. Based on this, the purpose of this work is to reduce the time required for the formation of the modular robot configuration. The article proposes a method for path planning of moving modules when forming the configuration of a multifunctional modular robot using a swarm control strategy. This approach allows real-time information exchange between robot modules, and path planning accomplishes decentralized for each module, regardless of their number. The use of analytical geometry methods allows reducing the computational complexity of the method and avoiding the energy consumption of the onboard energy resources of the robot. The results of modeling the developed method for a robot consisting of 5-50 modules are presented 2020-10-21T08:34:52Z 2020-10-21T08:34:52Z 2019 Статья Petrenko, V; Tebueva, F; Pavlov, A; Antonov, V; Kochanov, M. Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy // PROCEEDINGS OF THE 7TH SCIENTIFIC CONFERENCE ON INFORMATION TECHNOLOGIES FOR INTELLIGENT DECISION MAKING SUPPORT (ITIDS 2019). - 2019. - Серия книг: Advances in Intelligent Systems Research. - Том: 166. - Стр.: 165-170 http://hdl.handle.net/20.500.12258/14503 en PROCEEDINGS OF THE 7TH SCIENTIFIC CONFERENCE ON INFORMATION TECHNOLOGIES FOR INTELLIGENT DECISION MAKING SUPPORT (ITIDS 2019) application/pdf ATLANTIS PRESS
institution	СКФУ
collection	Репозиторий
language	English
topic	Formation of the configuration Swarm intelligence Group control Modular robotics Path planning
spellingShingle	Formation of the configuration Swarm intelligence Group control Modular robotics Path planning Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Kochanov, М. Кочанов, М. Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy
description	Multifunctional modular robots consist of a set of modules that can form a kinematic structure in accordance with the current task. When operating in a non-deterministic environment, the adaptive kinematic structure of the robot allows you to change the configuration and adapt to changing conditions and the limitations of the environment. However, the formation of the required configuration can take a lot of time, which is a problem when it is needed to perform the objective function in real time. Based on this, the purpose of this work is to reduce the time required for the formation of the modular robot configuration. The article proposes a method for path planning of moving modules when forming the configuration of a multifunctional modular robot using a swarm control strategy. This approach allows real-time information exchange between robot modules, and path planning accomplishes decentralized for each module, regardless of their number. The use of analytical geometry methods allows reducing the computational complexity of the method and avoiding the energy consumption of the onboard energy resources of the robot. The results of modeling the developed method for a robot consisting of 5-50 modules are presented
format	Статья
author	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Kochanov, М. Кочанов, М.
author_facet	Petrenko, V. I. Петренко, В. И. Tebueva, F. B. Тебуева, Ф. Б. Pavlov, A. S. Павлов, А. С. Antonov, V. O. Антонов, В. О. Kochanov, М. Кочанов, М.
author_sort	Petrenko, V. I.
title	Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy
title_short	Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy
title_full	Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy
title_fullStr	Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy
title_full_unstemmed	Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy
title_sort	path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy
publisher	ATLANTIS PRESS
publishDate	2020
url	https://dspace.ncfu.ru/handle/20.500.12258/14503
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Path planning method in the formation of the configuration of a multifunctional modular robot using a swarm control strategy

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