Mathematical model and control algorithms for a group of ground robots with energy resource redistribution
Keywords:
group control of robots, swarm systems, resource redistribution in a group of robotsAbstract
Introduction: Applying several homogeneous or heterogeneous robots for solving target problems provides advantages in terms of time reduction or increased functionality compared to a single robot. At the same time, the amount of resources required to ensure the operation of a group of robots also increases. Purpose: To increase the efficiency of a group of robots operating in rough terrain by redistributing energy resources within the group. Results: We present mathematical model and control algorithms for a group of robots, with some of the robots defined as workers, and the other part as chargers. Worker robots are aimed solely at completing assigned tasks, and charging robots replenish their energy resources. The proposed approach takes into account the limited energy resource of charging robots and losses during energy transfer between robots, which makes it possible to apply the developed solutions for robots equipped with contactless energy transfer systems. The selection of points at which energy is transferred takes into account the topography of the surface of the working space, which simplifies the process of robots positioning and increases the efficiency of contactless energy transfer. Using simulation modeling in the Gazebo environment, we have compared the total time for performing tasks by groups operating with traditional principles and that for groups based on the presented approach. In the group without redistribution of resources, all robots were workers and performed target tasks. The second group was divided equally into worker robots and charger robots. The results obtained in the simulation show a general trend towards faster completion of tasks by a group operating with a redistribution of resources when the distance to tasks and their number increases. Practical relevance: The proposed approach of the resource redistribution expands the operation area of a group robots and makes it possible to apply it for potentially more energy-intensive tasks.