Authors I. V. Kozhemyakin, V. A. Ryzhov, N. N. Semenov, M. N. Chemodanov
Month, Year 01, 2018 @en
Index UDC 007.52:004.896:004:942
Abstract The aim of the study is to research the influence of communication parameters, such as communication speed and range, on the stability of the multi-agent control system for a network of underwater robots. The use of multi-agent control by a group of underwater robots allows us to significantly expand the range of tasks to be solved using mobile underwater robots, but in the conditions of operation of such robots, the speed of hydroacoustic communication is small and essentially depends on the range of communication (at a distance of tens of meters the information transfer rate can be unity megabits per second, then at a distance of units of kilometers even in favorable hydrological conditions - no more than tens of kilobits per second, fading and "zones of acoustic shade" may appear). A model example of the group application of such robots is the task of monitoring large areas and searching for various objects. Unlike the works that deal with the problem of group management of the AUV in solving various target problems and in which the main attention is paid to the issues of working out the pre-planned trajectories of the movement of individual UAVs, in this paper we propose an approach to autonomous dynamic trajectory planning , allowing an efficient use of existing communication channels, saving traffic and ensuring the transmission of messages through AUV correspondents if direct communication is not possible. To conduct experimental studies of the proposed approach using computer simulation methods, an imitation program model of the functioning of a group of underwater robots was developed for solving problems of scanning specified areas. The simulation results confirm the efficiency of the proposed approach and show that it is possible to obtain a near-optimal variant for the distribution of scanning areas between the robots of the group in terms of minimizing total time costs and ensuring the safety of the group"s robots moving to targets. The effectiveness of using all robots in the group reaches 0.9 and above only at maximum range and communication speed, when no retransmission of information between robots is required, in all other cases the efficiency decreases to practically 0.1 and is less in the case of a short range and communication speed (range is many times smaller than the size of the surveyed site, the speed is so low that robots have to interrupt work in order to collect information about what other roboots in the group have performed, and also to relay their messages on the chain).

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Keywords The AUV group; distribution of goals; group management system; multi-agent control system; method; algorithm; imitation model.
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