Corresponding author: Gaiduk Anatoly R., D. Sc., Professor, Southern Federal University, Taganrog, CSP-17A, 347928, Russian Federation; Kislovodsk Humanitarian-Technical Institute, Kislovodsk, Pobedy prosp. 37a, 357700, Russian Federation, e-mail: gaiduk_2003@mail.ru

Received on February 17, 2016
Accepted on February 28, 2016

The article is devoted to the problem of the distributed control of a heterogeneous group of vehicles in the environment with obstacles. A brief overview is presented of the objectives and methods of the group control. A task is set of synthesis of the local control algorithms, ensuring movement of the heterogeneous groups in a two-dimensional environment with non-stationary obstacles. The model of the movements' planning is based on the equations of kinematics in a two-dimensional environment. The results of the algorithm are the desired speed and direction of movement of each object in the group. The proposed algorithms are based on the assumption that all the neighboring objects are repellers. At that, in contrast to the known methods for formation of the repellers, the repulsive forces are generated at the output of the dynamic system, which allows synthesis in the state space, and not in the geometrical space. The proposed method allows us to introduce for consideration the repellers, which depend not only on the position of an object, but also on its speed and acceleration. The paper presents an analysis of the steady state motion and stability of the planned trajectories. Expressions were received allowing to determine a steady state of motion. Also an analysis was done of the movement of the robots' groups in the environments with the obstacles moving with constant velocities. Displacements of the robots 'positions were defined, caused by the moving obstacles, and an analysis of sustainability was done. Similarly, it is possible to analyze the situation with the obstacles moving with constant accelerations. Simulation confirmed the results of the analysis. The proposed approach, in case the kinematics and dynamics equations are used, allows us to combine the level of planning and movement control.

Keywords: heterogeneous groups, group control, vehicle, decentralized control, repeller

Acknowledgements: This work was supported by a grant from the Russian Science Foundation 14-19-01533 for Southern Federal University.

For citation:
Pshikhopov V. Kh., Medvedev М. Yu., Gaiduk A. R. Control Algorithms for the Heterogeneous Groups of Vehicles in the Two-Dimensional Environments with Obstacles, Mekhatronika, Avtomatizatsiya, Upravlenie, 2016, vol. 17, no. 8, pp. 515—524.
DOI: 10.17587/mau.17.515-524

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