The study of the survey algorithm of the heterogeneous group of autonomous mobile robots

Sergey G. Popov
PhD in Technical Sciences, Department of Applied Mathematics and Computation Physics, Institute of Applied Mathematics and Mechanics, Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Assistant Professor, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(921)961-34-93, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexandr S. Krasheninnikov ^*
Department of Applied Mathematics and Computation Physics, Institute of Applied Mathematics and Mechanics, Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Postgraduate Student, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(952)235-42-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Mikhail V. Chuvatov
Department of Applied Mathematics and Computation Physics, Institute of Applied Mathematics and Mechanics, Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Leading Programmer, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(921)584-22-25, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 26 September 2019

Abstract
The main objective of this work is to develop a new approach, allowing ground rovers and air drones to coordinate their actions. Trajectories are optimized by the path length. In this work common motion algorithm, using structure of heterogeneous group and built on the base of A* algorithm, was developed. Program model was realized and experiment's procedure was developed. As a result of an experiment the pathfinding time reliance on drones number, expected path length and availability of multithreaded processing was confirmed. Also, reliance of length path on drones number and their vision radius was confirmed. These results might be used for controlling and dispatching of robot cluster in static map condition for optimizing group's paths by several criteria.

Key words
Robot, algorithm, navigation, optimization, heterogeneous.

Acknowledgements
The research is supported by the government contract of Russian Federation no.2.9198.2017/8.9.

DOI
https://doi.org/10.31776/RTCJ.7404 

Bibliographic description
Popov, S., Krasheninnikov, A. and Chuvatov, M. (2019). The study of the survey algorithm of the heterogeneous group of autonomous mobile robots. Robotics and Technical Cybernetics, 7(4), pp.278-290.

UDC identifier:
004.021:004.94

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