Simulation in MATLAB group control when conducting reconnaissance in areas

摘要

A mathematical model of a single mobile robot is developed. One of the possible situational tasks is considered. The paper deals with the problem of reconnaissance in the premises and the detection of explosive objects. This task is divided into three subtasks: exploration, detection of explosive object and its classification, neutralization. An algorithm for solving this problem is developed. The computer model of the multi-agent system consisting of two robots is designed, proposed algorithm is simulated. Modern tools such as MATLAB, as well as additional libraries such as Robotics Simulation Toolbox, Robotics System Toolbox were used in the simulation. It is necessary to use intelligent robotic systems for the successful solution of special tasks of robotics. To successfully perform real-world tasks, it is necessary to use groups of robots, and each robot can have its own set of sensors and target equipment. The paper describes the composition of a group of heterogeneous robots, the sensor composition and the necessary target equipment to perform one of the typical tasks. Based on the literature review, the structure of the control system of a group of heterogeneous robots was chosen, a hierarchical centralized control system was proposed, as the most suitable for the successful implementation of the task, taking into account the practical implementation. The interaction of the control point with a group of robots is described.