ORGANIZATION OF INFORMATION EXCHANGE IN DECENTRALIZED SWARM CONTROL SYSTEMS OF MULTI-ROBOTIC COMPLEXES USING ZIGBEE

摘要

The article considers the single-minded, hierarchical, collective, flock and swarm-based methods of managing groups of robots. In extreme robotics, it is preferable to use a decentralized swarm control method, since the network is easily scalable, allowing to cover a large area. There is no need in op-timization of collective movement, excluding the Central control device from the network, which makes the network independent of the control center and resistant to external sources of influence.
 The implementation of this method requires a good and stable communication between the network participants, which allows making a constant exchange and processing of information in real time. 
 The ZigBee information exchange standard (IEEE 802.15.4) is suitable for solving this scientific and technical problem. It’s hardware implementation and components are more cost-effective, frequency ranges are less loaded, the standard involves low power consumption, which is another advantage for small-sized robots with a small supply of energy. In spite of this, using a wireless communication line there are risks of covert receipt of information, unauthorized access and discredit of information.
 For protection, it is proposed to use the software encryption instead of the hardware, which reduces the weight and price of a small-sized robot. The algorithm of the DES family is presented. It allows to see the visual advantages of software encryption.