Algorithm for conceptual design of an object monitoring system with a collaborative multi-agent robotic system
Abstract
Algorithm for conceptual design of an object monitoring system with a collaborative multi-agent robotic system
Incoming article date: 16.04.2021The issues of modeling the interaction of humans and robots in a common operating environment are considered in order to select the optimal parameters of such a system. The context of the application of multi-agent robotic systems (MRTS) is the monitoring of a fire hazardous area. The homogeneous MRTS includes unmanned aerial vehicles (UAVs) that cyclically perform operations of flying around their area of the territory (with identification of fires) in an autonomous mode, returning to the charging base, waiting for charging, charging, returning to their area of responsibility, flying around their area, etc. etc. An operator works in the charging area, to which the UAVs should not approach less than a certain distance. The system is presented as a multi-channel queuing system (in the charging area). A simulation model is constructed that allows, according to the data of many runs, to construct polynomial regression dependences of the quality indicators of the MRTS operation on its parameters, by which to solve the multicriteria problem of choosing the optimal parameters of the MRTS charging terminal.
Keywords: cobots, simulation, unmanned aerial vehicles, queuing system, regression equations, optimization