ITM Web Conf.
Volume 35, 2020International Forum “IT-Technologies for Engineering Education: New Trends and Implementing Experience” (ITEE-2019)
|Number of page(s)||12|
|Section||Modernization of Engineering Courses based on software for Computer Simulation|
|Published online||09 December 2020|
Computer Simulation of a Group of Mobile Robots in Special Software Tools
Bauman Moscow State Technical University, 2nd Baumanskaya str., 5/1, 105005, Moscow, Russia
* Corresponding author: firstname.lastname@example.org
The problem of controlling a group of special robots for application in the high-risk conditions (for example, for fire extinguishing, search for hazardous substances, or elimination of consequences of emergencies) is solved. According to the task, robots operate in the industrial and urban environment, i.e., the movement of robots is planar. Various strategies of group interaction between robots are analyzed; a literature review is conducted. Due to the task specifics, a decentralized management strategy has been selected. For solving the problem, a movement algorithm of a group of mobile robots with a subsequent visual check of the resulting algorithm operation is proposed. Implementation of the algorithm’s work is performed in the MATLAB environment. For preliminary algorithm verification and modeling of various dangerous cases, a model of robot group using the Mobile Robotics Simulation Toolbox of MATLAB was made. For a more detailed and accurate analysis of the real robot’s behavior, a model in the ROS package has been developed. That model interacts with the developed algorithm through the ROS Toolbox package of MATLAB. This software can be used for the training of engineering staff in the field of mathematical modeling, group control, and multi-agent systems. As a result of verification, the program and the model successfully solve the task. Yet, the model in the ROS package requires greater computational power because of the large number of complex calculations.
© The Authors, published by EDP Sciences, 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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