DEVELOPMENT OF CONTROL SOFTWARE FOR SELFORGANIZING INTELLIGENT MOBILE ROBOTS
Toibazarov D. Baiseitov G. Kyzyrkanov A. Aljawarneh S. Atanov S.
2023Technology Center
Eastern-European Journal of Enterprise Technologies
2023#2Issue 9-12246 - 58 pp.
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 methods 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 methods 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 methods ability to avoid obstacles and reduce power consumption can also lead to reduced costs and increased efficiency
formation control , mobile robots , multiagent system , pattern formation
Text of the article Перейти на текст статьи
Department of Education and Science, National Defense University named after the First President of the Republic of Kazakhstan, Turan ave,72, Astana, 010000, Kazakhstan
Department of Education and Science, LLP Research & Development Center, Kazakhstan Engineering, M. Auezova str,2, Astana, 010000, Kazakhstan
Department of Computer Engineering, Astana IT University, Rysqulbekov str,8/2, Astana, 010000, Kazakhstan
Department of Software Engineering, Jordan University of Science and Technology, Irbid, 3030, Jordan
Department of Computer and Software Engineering, L. N. Gumilyov Eurasian National University, Satpayev str,2, Astana, 010008, Kazakhstan
Department of Education and Science
Department of Education and Science
Department of Computer Engineering
Department of Software Engineering
Department of Computer and Software Engineering
10 лет помогаем публиковать статьи Международный издатель
Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026