System Analysis and Management in Group Robotics Based on Advanced Cat Swarm Algorithm. Lower Level Hierarchy

Abstract

Problem formulation: Nowadays, in many applications, there is a problem of developing mathematical models to control groups of complex dynamic objects that interact with each other in the process of achieving a common goal. As such, we consider the problem of extrema localization of an unknown scalar physical field. The tasks of detecting zones of radioactive, chemical, biological or other kinds of terrain contamination, temperature and salinity of the seas, and other similar problems can be set in this form. The article is a continuation of the authors’ work, which considers a system of decentralized control of a group of robots designed to solve this class of problems and based on the use of modified Cat Swarm Algorithm. Decentralized control systems, as objects of mathematical modeling, are an important part of modern complex dynamic systems consisting of autonomous objects that work together on the basis of the organization of complex behavior of these objects in an unpredictable environment. Such systems significantly increase the control efficiency of dynamic systems at the strategic, tactical and executive levels. The relevance of the study is attributable to the imperfection of the existing models of distributed control systems. Aim of the study: The article is dedicated to the development of new mathematical models and approaches that can be used in solving problems of control of distributed dynamic systems in their group application in real environments. The main task is to manage the coordinated behavior of the group members, that separately solve a common task. It is assumed that the control is carried out in an uncertain and changing environment, which requires rapid adaptation to these changes. The main purpose of the study is to synthesize an effective situational control system for a group of robots designed to localize the extrema of an unknown scalar physical field. Results: On the basis of the situational theory, a mathematical model of the control system of a group of robots is developed. Using several test functions, a computational experiment was conducted to study the effectiveness of the proposed control system. The results of the computational experiment, which showed the prospects of the developed mathematical support and software, are presented.