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DEVELOPMENT OF CONTROL SOFTWARE FOR SELFORGANIZING INTELLIGENT MOBILE ROBOTS

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dc.contributor.author Toibazarov, Daulet
dc.contributor.author Baiseitov, Gani
dc.contributor.author Kyzyrkanov, Abzal
dc.contributor.author Aljawarneh, Shadi
dc.contributor.author Atanov, Sabyrzhan
dc.date.accessioned 2024-10-11T06:14:27Z
dc.date.available 2024-10-11T06:14:27Z
dc.date.issued 2023
dc.identifier.issn 1729-3774
dc.identifier.other DOI: 10.15587/1729-4061.2023.277840
dc.identifier.uri http://rep.enu.kz/handle/enu/17658
dc.description.abstract Maintaining a specific geometric formation during the movement is crucial for multiagent systems of mobile robots in various applications. Proper coordination can lead to reduced system costs, increased reliability and efficiency, and system adaptability and flexibility. This research proposes a novel movement coordination method for self-governing multiagent systems of intelligent mobile robots. The proposed method uses a leader-follower technique with a virtual leader to maintain a specific geometric structure. Additionally, the epsilon greedy algorithm is utilized to avoid loops. To reduce power consumption, it is proposed to turn on only a few robots' lidars at a time. They could drive all the robots in the group, allowing them to reach the goal without colliding with obstacles. Experiments on a complex map with nine robots were conducted to test the method's effectiveness. The success rate of the swarm reaching the target position and the number of steps needed were evaluated. Testing varied angular velocities of 1 to 20 degrees and linear velocities of 0.1 to 5.5 m/s. Results show the method effectively guides the robots without collisions. This method enables a group of self-governing multiagent systems of intelligent mobile robots to maintain a desired formation while avoiding obstacles and reducing power consumption. The results of the experimental study demonstrate the method's potential to be implemented in real-world missions and traffic management systems to increase efficiency and reduce costs. The proposed method can be utilized in military missions and traffic management systems, where maintaining a specific geometric formation is crucial. The method's ability to avoid obstacles and reduce power consumption can also lead to reduced costs and increased efficiency ru
dc.language.iso en ru
dc.publisher Eastern-European Journal of Enterprise Technologies ru
dc.relation.ispartofseries 2;122
dc.subject multiagent system ru
dc.subject mobile robots ru
dc.subject formation control ru
dc.subject pattern formation ru
dc.title DEVELOPMENT OF CONTROL SOFTWARE FOR SELFORGANIZING INTELLIGENT MOBILE ROBOTS ru
dc.type Article ru


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