Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208223
A. Antipov, S. Krasnova
The paper deals with the twin rotor MIMO system, which behavior is much similar to the behavior of a real technical device – a helicopter. The tracking problem of the generalized coordinates (yaw and pitch angles) for the given trajectories is posed in the conditions of the model's parametric uncertainties and in the action of unknown external disturbances. The decomposition synthesis of the control law is performed on the basis of the block approach using non-linear S-shaped sigmoidal feedbacks. The reduced order state observer with sigmoidal corrective action is constructed to obtain the estimates of the generalized velocities when generalized coordinates are measured. It is shown that the use of sigmoidal feedback allows us to reduce the possible overshoot at the beginning of transient responses, and to provide tracking of given signals with a given accuracy invariant with respect to parametric and external disturbances without using exogenous dynamic models of external influences.
{"title":"Block Approach with Sigmoidal Feedbacks for Twin Rotor MIMO System Control","authors":"A. Antipov, S. Krasnova","doi":"10.1109/RusAutoCon49822.2020.9208223","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208223","url":null,"abstract":"The paper deals with the twin rotor MIMO system, which behavior is much similar to the behavior of a real technical device – a helicopter. The tracking problem of the generalized coordinates (yaw and pitch angles) for the given trajectories is posed in the conditions of the model's parametric uncertainties and in the action of unknown external disturbances. The decomposition synthesis of the control law is performed on the basis of the block approach using non-linear S-shaped sigmoidal feedbacks. The reduced order state observer with sigmoidal corrective action is constructed to obtain the estimates of the generalized velocities when generalized coordinates are measured. It is shown that the use of sigmoidal feedback allows us to reduce the possible overshoot at the beginning of transient responses, and to provide tracking of given signals with a given accuracy invariant with respect to parametric and external disturbances without using exogenous dynamic models of external influences.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124790966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208176
S. Valeev, N. Kondratyeva
A gas turbine engine is a nonlinear and multi-mode dynamical control object. A synthesis of a nonlinear multi-mode gas turbine engine controller in a state space is considered. An algorithmic approach for the synthesis of a nonlinear multi-mode controller for a gas turbine engine the description of which is given in the form of a set of linear models for different modes of operation is proposed. The application of the constant eigenvectors of matrix-function, Grobner bases algorithmic approach and neural networks approximation of feedback control as an algorithmic basis for the synthesis of a controller is considered.
{"title":"Design of Nonlinear Multi-Mode Controller for Gas Turbine Engine in State Space Based on Algorithmic Approach","authors":"S. Valeev, N. Kondratyeva","doi":"10.1109/RusAutoCon49822.2020.9208176","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208176","url":null,"abstract":"A gas turbine engine is a nonlinear and multi-mode dynamical control object. A synthesis of a nonlinear multi-mode gas turbine engine controller in a state space is considered. An algorithmic approach for the synthesis of a nonlinear multi-mode controller for a gas turbine engine the description of which is given in the form of a set of linear models for different modes of operation is proposed. The application of the constant eigenvectors of matrix-function, Grobner bases algorithmic approach and neural networks approximation of feedback control as an algorithmic basis for the synthesis of a controller is considered.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126285778","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208202
E. Muravyova
The process of purification of the pyrolysis fraction from acetylene compounds is one of the stages in the production of butadiene. The efficiency of purification of the pyrolysis fraction from acetylene compounds and the selectivity of the reaction are affected by the volumetric feed rate of the fraction, the mass concentration of butadiene before hydrogenation, the mass content of alpha-acetylene compounds, the content of pure acetylene, and hydrogen consumption. Artificial neural networks are selected for the development of a process control system due to the fact that they are fault tolerant. In a neural network, information is distributed throughout the network, which means if a neuron fails, the behavior of the network will be changed slightly, the behavior of neurons will change, but the network itself continues to function successfully. It is necessary to develop a neural network to control the process of purification of the pyrolysis fraction from acetylene compounds. To minimize the loss of butadiene, it is proposed to use a more efficient control system that will take into account the optimal ratio of butadiene to acetylene and the flow rate of the fraction, which significantly affect the yield of butadiene. As a result of the training, a neural network was obtained which, without reconfiguring the connection weights, generates output signals when any set of input signals from the training set is fed to the network input.
{"title":"Control of the Pyrolysis Fraction Cleaning Process Using a Neural Network","authors":"E. Muravyova","doi":"10.1109/RusAutoCon49822.2020.9208202","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208202","url":null,"abstract":"The process of purification of the pyrolysis fraction from acetylene compounds is one of the stages in the production of butadiene. The efficiency of purification of the pyrolysis fraction from acetylene compounds and the selectivity of the reaction are affected by the volumetric feed rate of the fraction, the mass concentration of butadiene before hydrogenation, the mass content of alpha-acetylene compounds, the content of pure acetylene, and hydrogen consumption. Artificial neural networks are selected for the development of a process control system due to the fact that they are fault tolerant. In a neural network, information is distributed throughout the network, which means if a neuron fails, the behavior of the network will be changed slightly, the behavior of neurons will change, but the network itself continues to function successfully. It is necessary to develop a neural network to control the process of purification of the pyrolysis fraction from acetylene compounds. To minimize the loss of butadiene, it is proposed to use a more efficient control system that will take into account the optimal ratio of butadiene to acetylene and the flow rate of the fraction, which significantly affect the yield of butadiene. As a result of the training, a neural network was obtained which, without reconfiguring the connection weights, generates output signals when any set of input signals from the training set is fed to the network input.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126331221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208134
B. Saidov, V. Telezhkin
In many cases, the spectrum of the modulated signal is transferred to the low-frequency region, for example, when radio sound appears in active dielectrics or an acoustic signal appears on the beat frequency (the frequency of the change in the amplitude of the total signal) during information exchange signals from two ultrasonic sources. In the general case, the analysis of the process of converting the spectrum of a signal turns out to be a difficult task related to solving a system of nonlinear differential equations. In this case, the principle of superposition does not apply. Thus, the study and analysis of the signal with respect to simple methods, if the form of the current-voltage characteristic for the nonlinear element in the dynamic mode is the same as with a constant voltage in time (or in static mode). Consider the conversion of the spectrum when transmitting the amplitude-modulated signal to an active nonlinear element with nonlinear current-voltage characteristics. In the examples for the conversion of the signal spectrum, the amplitude-modulated signal and beats are considered. The use of amplitude modulation methods is necessary to transfer the signal spectrum to the low-frequency region. In this paper, we analyze the conversion of the signal spectrum to current when the amplitude-modulated voltage is applied to a nonlinear element. The carrier signal is presented in the form of harmonic trigonometric cosine functions.
{"title":"Transformation of the Amplitude-Modulated Spectrum of a Signal on a Nonlinear Element","authors":"B. Saidov, V. Telezhkin","doi":"10.1109/RusAutoCon49822.2020.9208134","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208134","url":null,"abstract":"In many cases, the spectrum of the modulated signal is transferred to the low-frequency region, for example, when radio sound appears in active dielectrics or an acoustic signal appears on the beat frequency (the frequency of the change in the amplitude of the total signal) during information exchange signals from two ultrasonic sources. In the general case, the analysis of the process of converting the spectrum of a signal turns out to be a difficult task related to solving a system of nonlinear differential equations. In this case, the principle of superposition does not apply. Thus, the study and analysis of the signal with respect to simple methods, if the form of the current-voltage characteristic for the nonlinear element in the dynamic mode is the same as with a constant voltage in time (or in static mode). Consider the conversion of the spectrum when transmitting the amplitude-modulated signal to an active nonlinear element with nonlinear current-voltage characteristics. In the examples for the conversion of the signal spectrum, the amplitude-modulated signal and beats are considered. The use of amplitude modulation methods is necessary to transfer the signal spectrum to the low-frequency region. In this paper, we analyze the conversion of the signal spectrum to current when the amplitude-modulated voltage is applied to a nonlinear element. The carrier signal is presented in the form of harmonic trigonometric cosine functions.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131697552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208058
V. Lapshin, I. A. Turkin, Ya. D. Koba
Modern bearings used in spindle assemblies of metal cutting machines for low vibration conditions on such machines shall provide low vibration machining modes. However, there are often situations where such bearings, even new ones, have some defects. One of the most common defects to date is a defect in the internal or external ring of the separator. The spindle itself, which may lose alignment, may be defective from the point of ensuring the absence of vibrations, in which case beats at the speed of the spindle will be observed in the machine. Proposed method of automatic control of bearings of spindle assembly makes it possible to estimate degree of defect of bearing separator outer ring by vibration dynamics of spindle rotation in metal cutting machine, as well as to estimate presence or absence of beats caused by misalignment of spindle. The automated control method itself is based on the use of signal filtering, in the range of interest to us in terms of finding a specific fault.
{"title":"Automation of Diagnostics of Defects in the Outer Ring of a Rolling Bearing","authors":"V. Lapshin, I. A. Turkin, Ya. D. Koba","doi":"10.1109/RusAutoCon49822.2020.9208058","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208058","url":null,"abstract":"Modern bearings used in spindle assemblies of metal cutting machines for low vibration conditions on such machines shall provide low vibration machining modes. However, there are often situations where such bearings, even new ones, have some defects. One of the most common defects to date is a defect in the internal or external ring of the separator. The spindle itself, which may lose alignment, may be defective from the point of ensuring the absence of vibrations, in which case beats at the speed of the spindle will be observed in the machine. Proposed method of automatic control of bearings of spindle assembly makes it possible to estimate degree of defect of bearing separator outer ring by vibration dynamics of spindle rotation in metal cutting machine, as well as to estimate presence or absence of beats caused by misalignment of spindle. The automated control method itself is based on the use of signal filtering, in the range of interest to us in terms of finding a specific fault.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122259861","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208112
A. Sagdatullin
In this article, nonlinear object of oil and gas production of oilfield pumping station is investigated. Approach to design a classical control system is studied. The nonlinearity of the object due to the daily oil inflow fluctuations at the pumping station is shown. The features of objects and technological processes of oil and gas production, collection and treatment systems such as changes in the dynamic properties of objects, the uniformity of the structure and inherent characteristics of objects, the difficulty of formalizing a single objective function for managing an object, as well as determining an objective criterion due to an incomplete data set are described. It was revealed that for the effective control of an oil and gas pumping unit, it is necessary to know the following: the model of the control object, its functional structure, the formulated requirements and control criteria. According to the studied functional structure of the object the features are formulated for building control systems for this type of units. To identify the pumping station under conditions of an incomplete data set and uncertainty, the system on the basis of the method of difference equations and z-transformation is presented. The discrete Laplace transform for the considered function and the identification of the control object based on a linear autoregressive model are presented.
{"title":"Analysis of a Discrete Object Control of Oil and Gas Pumping System under Uncertainty and Unfull Information Conditions","authors":"A. Sagdatullin","doi":"10.1109/RusAutoCon49822.2020.9208112","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208112","url":null,"abstract":"In this article, nonlinear object of oil and gas production of oilfield pumping station is investigated. Approach to design a classical control system is studied. The nonlinearity of the object due to the daily oil inflow fluctuations at the pumping station is shown. The features of objects and technological processes of oil and gas production, collection and treatment systems such as changes in the dynamic properties of objects, the uniformity of the structure and inherent characteristics of objects, the difficulty of formalizing a single objective function for managing an object, as well as determining an objective criterion due to an incomplete data set are described. It was revealed that for the effective control of an oil and gas pumping unit, it is necessary to know the following: the model of the control object, its functional structure, the formulated requirements and control criteria. According to the studied functional structure of the object the features are formulated for building control systems for this type of units. To identify the pumping station under conditions of an incomplete data set and uncertainty, the system on the basis of the method of difference equations and z-transformation is presented. The discrete Laplace transform for the considered function and the identification of the control object based on a linear autoregressive model are presented.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134261574","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208089
A. Fedorova, Viktar Beliautsou, I. Anikin
We propose an approach for the vehicle’s speed prediction based on artificial neural networks. Different types of artificial neural networks were considered including MLP and RNN. A complex urban route in Kazan city was chosen for data gathering and making experiments. We demonstrated that it is possible to obtain sufficient accuracy for speed prediction based on limited source data. We got the prediction accuracy as 99.6% for the first future second and 94% for the tenth future second. Simple RNN showed better results for given data. We can use the suggested approach for designing intellectual automatic transmission systems and other intelligent transport systems applications.
{"title":"Prediction Vehicle’s Speed with Using Artificial Neural Networks","authors":"A. Fedorova, Viktar Beliautsou, I. Anikin","doi":"10.1109/RusAutoCon49822.2020.9208089","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208089","url":null,"abstract":"We propose an approach for the vehicle’s speed prediction based on artificial neural networks. Different types of artificial neural networks were considered including MLP and RNN. A complex urban route in Kazan city was chosen for data gathering and making experiments. We demonstrated that it is possible to obtain sufficient accuracy for speed prediction based on limited source data. We got the prediction accuracy as 99.6% for the first future second and 94% for the tenth future second. Simple RNN showed better results for given data. We can use the suggested approach for designing intellectual automatic transmission systems and other intelligent transport systems applications.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133189320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208117
D. Vasilchenkova
The article is devoted to process of message relay algorithms between radio devices based on technology Dedicated Short Range Communications (DSRC). The devices are installed on vehicles, gets access to its telemetry data and allows to exchange information messages. The main distinguishing feature of such intelligent transport systems is ability to provide subscribers with help and assistance information services without direct access to global information networks. We consider the problem of message delivery from stationary vehicle located in area without mobile connection to global network. There are two possible cases: devices do not have any information about coverage area of mobile operator, and information about some points of coverage area is accumulated by each vehicle device during their movement. In the first case we use to select relative recipient positions of vehicles, but in second one only accumulated information about coverage area. Corresponding algorithms and results of simulation computer experiments are proposed.
{"title":"Message Relay Between Short-Range Radio Devices in Traffic Flow","authors":"D. Vasilchenkova","doi":"10.1109/RusAutoCon49822.2020.9208117","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208117","url":null,"abstract":"The article is devoted to process of message relay algorithms between radio devices based on technology Dedicated Short Range Communications (DSRC). The devices are installed on vehicles, gets access to its telemetry data and allows to exchange information messages. The main distinguishing feature of such intelligent transport systems is ability to provide subscribers with help and assistance information services without direct access to global information networks. We consider the problem of message delivery from stationary vehicle located in area without mobile connection to global network. There are two possible cases: devices do not have any information about coverage area of mobile operator, and information about some points of coverage area is accumulated by each vehicle device during their movement. In the first case we use to select relative recipient positions of vehicles, but in second one only accumulated information about coverage area. Corresponding algorithms and results of simulation computer experiments are proposed.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131253403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208119
A. Zakharov, A. Bulaev, A. Zhiznyakov
The development of a method for detecting material defects using graph-based manifold ranking and heterogeneous image features is considered in the article. The aim of the research is to develop a method that allows high-precision detection of defect in images with low color contrast of detecting and background areas. The image is pre-segmented into regions to calculate the saliency map. The graph is based on regions. The defect is determined based on background area queries. The areas adjacent to the edges of the image belong to the background areas. Color features of the image are used in the existing approach based on the manifold ranking. Texture features are used in the proposed method to improve accuracy. Gabor's energy function is used to calculate texture features. The proposed method has shown good results for detection of material defect in images in which the background color and object color are in similar ranges. The experimental results are presented on test images. Precision-recall curves showing the advantage of the developed method are constructed.
{"title":"Detection of Material Defects Using Graph-Based Manifold Ranking and Heterogeneous Image Features","authors":"A. Zakharov, A. Bulaev, A. Zhiznyakov","doi":"10.1109/RusAutoCon49822.2020.9208119","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208119","url":null,"abstract":"The development of a method for detecting material defects using graph-based manifold ranking and heterogeneous image features is considered in the article. The aim of the research is to develop a method that allows high-precision detection of defect in images with low color contrast of detecting and background areas. The image is pre-segmented into regions to calculate the saliency map. The graph is based on regions. The defect is determined based on background area queries. The areas adjacent to the edges of the image belong to the background areas. Color features of the image are used in the existing approach based on the manifold ranking. Texture features are used in the proposed method to improve accuracy. Gabor's energy function is used to calculate texture features. The proposed method has shown good results for detection of material defect in images in which the background color and object color are in similar ranges. The experimental results are presented on test images. Precision-recall curves showing the advantage of the developed method are constructed.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134361229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/RusAutoCon49822.2020.9208104
A. Novikov, A. Voloshko, Evgeniy Dumchev
The method to organize a safe and optimal joint movement of a group of intelligent mobile robots that solve common tasks in a potentially dangerous territory is purpose. Such territories include: territory covered by fire, chemically contaminated territory, and another territory with the manifestation of an emergency in which robots will be of high utility. To solve this problem, a software platform for organizing group interactions of mobile objects has been developed and the principles of building its modular architecture are given. Using the platform, the developed technique for solving the problem was implemented and a series of experiments was conducted to evaluate its effectiveness. The technique is based on algorithms for efficiently representing the movement space in the form of a directed graph, finding the shortest path based on the a-star algorithm with an optimal heuristic function, and the logic of joint interaction of a group of mobile robots with the possibility of task distribution. Evaluation of the effectiveness of the developed method was carried out on the basis of a generalized method for calculating the stabilized value of the indication of the effectiveness criterion. A demonstration experiment is the task of simultaneously and safely collecting a group of robots in a target area in a potentially dangerous territory. The main parameter to be evaluated is simultaneity of the arrival of a group of robots depending on the number of robots in a group.
{"title":"The Method for Coordinated Movement of Intelligent Mobile Robot Group in Potentially Dangerous Territory","authors":"A. Novikov, A. Voloshko, Evgeniy Dumchev","doi":"10.1109/RusAutoCon49822.2020.9208104","DOIUrl":"https://doi.org/10.1109/RusAutoCon49822.2020.9208104","url":null,"abstract":"The method to organize a safe and optimal joint movement of a group of intelligent mobile robots that solve common tasks in a potentially dangerous territory is purpose. Such territories include: territory covered by fire, chemically contaminated territory, and another territory with the manifestation of an emergency in which robots will be of high utility. To solve this problem, a software platform for organizing group interactions of mobile objects has been developed and the principles of building its modular architecture are given. Using the platform, the developed technique for solving the problem was implemented and a series of experiments was conducted to evaluate its effectiveness. The technique is based on algorithms for efficiently representing the movement space in the form of a directed graph, finding the shortest path based on the a-star algorithm with an optimal heuristic function, and the logic of joint interaction of a group of mobile robots with the possibility of task distribution. Evaluation of the effectiveness of the developed method was carried out on the basis of a generalized method for calculating the stabilized value of the indication of the effectiveness criterion. A demonstration experiment is the task of simultaneously and safely collecting a group of robots in a target area in a potentially dangerous territory. The main parameter to be evaluated is simultaneity of the arrival of a group of robots depending on the number of robots in a group.","PeriodicalId":101834,"journal":{"name":"2020 International Russian Automation Conference (RusAutoCon)","volume":"747 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132230439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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