AN EVOLUTIONARY METHOD FOR SOLVING THE OPTIMAL CONTROL PROBLEM TO IMPROVE THE QUALITY OF GROUP INTERACTION OF ROBOTS 

Diveev Askhat Ibragimovich, doctor of technical sciences, director of the robot control center, Federal research center «Computer science and control» of the Russian Academy of Sciences (Dorodniсyn Computer Center of RAS) (119333, 40 Vavilov street, Moscow, Russia); professor of the department of mechanics and mechatronics, Engineering Academy Peoples' friendship University of Russia (115419, 3 Ordzhonikidze street, Moscow, Russia), E-mail: aidiveev@mail.ru
Kotova Anna Alekseevna, student, Engineering Academy Peoples' friendship University of Russia (115419, 3 Ordzhonikidze street, Moscow, Russia), E-mail: cat-anja@mail.ru 

519.714 

10.21685/2307-4205-2019-4-6 

The problem of optimal control of group interaction of robots with phase restrictions is considered. In a task two mobile robots by means of rigid hinged drafts move the cart from one point of the plane to another for minimum time. On the plane static restrictions are set. When driving robots, the cart and the drafts shouldn't break phase restrictions. Robots also shouldn't collide among themselves. For the solution of a task piecewise linear approximation of required functions of management is used. When searching parameters of approximating functions, the evolutionary algorithm of "swarm particles" is used. 

optimal control, phase restrictions, group interaction of robots, evolutionary algorithm