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

摘要

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.