Choosing a Swarm Algorithm to Synthesis an Optimal Mobile Robot Team Control Strategy

Abstract

The article presents a synthesis methodology of one of the swarm algorithm's variants used to solve the distribution's problem in the collectives of mobile robots performing single-complex operations in a common working space. Based on the results of a comparative analysis of known methods (bee, ant and particle swarm), a type of algorithm was selected. The specifics of problem-setting and the working space model are considered, the objectives of robot functioning are formalized and parameters characterizing their work are defined. To address the given problem using the swarm algorithm, its representation in the form of a graph is executed. The results of computational experiments have been obtained, confirming the possibility of using the chosen algorithm to find the optimal strategy for controlling the group of mobile robots.