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2017, vol. 45, br. 4, str. 559-564
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Upravljanje formacijom robotizovanih letelica zasnovano na algoritmima konsenzusa
Formation control of robotized aerial vehicles based on consensus-based algorithms
aUniverzitet u Beogradu, Elektrotehnički fakultet, Srbija bUniverzitet u Beogradu, Institut 'Mihajlo Pupin', Centar za robotiku, Srbija
e-adresa: aleksandar.rodic@pupin.rs
Projekat: Istraživanje i razvoj ambijentalno inteligentnih servisnih robota antropomorfnih karakteristika (MPNTR - 35003)
Razvoj robota kao sredstva za pomoć u prevazilaženju teškoća u razvoju dece (MPNTR - 44008)
Sažetak
Rad prikazuje upravljanje formacijom multi-robotizovanih kvadrotorskih letelica zasnovano na konsenzusu. Metod je pogodan u slučaju kada je informacioni prostor nedovoljno veliki, ali obuhvata onoliko stepeni slobode koliko je konsenzusom dogovoreno i broj stanja u kojima se formacija realizuje. Pokazano je nekoliko proširenja osnovnog algoritma konsenzusa sa konsenzusom drugog reda, kao i slučaj kada postoji zahtev da formacija prati unapred određenu spoljašnju referentnu tačku. Rezultati simulacije se u potpunosti podudaraju sa teorijom, ali bi implementacija u realnim sistemima trebalo da uzme u obzir više pojedinosti, kao što su tehnički podaci o uzajamnoj komunikaciji letelica.
Abstract
In this paper, consensus based formation control of multi robotized quadrotor vehicles is presented. The method is suitable in the case when information space is not huge, but includes as many states by how many degrees of freedom are achieved by consensus, or by the number of states in which the formation is achieved. Several extensions of the basic consensus algorithm are shown that include second-order consensus, as well as the case where the formation required to follow a predetermined external reference. Simulation results are fully consistent with the theory, but the implementation in real systems would have more details to take into consideration such as technical details about mutual communication.
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