Control of the Group of Mobile Robots Without Pre-planned Route for Monitoring and Diagnostic Purposes

Abstract

In this paper an approach is presented to solving the problem of control a heterogeneous group of mobile robots with a leader. In particular this approach has been applied for a group of unmanned aerial vehicles (UAVs) during monitoring (scanning) geographically distributed areas. A description of the solution to the problem is given for the subtask for determining the number of UAV subgroups required for scanning areas; for the subtask for distribution of scanning sub-areas between UAV subgroups; for the subtask for distribution of UAVs by subgroups; for the subtask for UAV distribution over scanning bands. The main attention is paid to the issues of working out pre-planned trajectories of movement of individual UAVs in well-known works dedicated the problem of group control of UAVs in solving various target tasks. Unlike these works in this paper an approach proposes to autonomous planning of trajectories which allows minimizing the intersection of trajectories and thereby reduce the risk of collisions of UAVs with each other during operation.