ALGORITHMS RESEARCH OF INTELLECTUAL CONTROL SYSTEM OF ROBOTIC PROSPECTING COMPLEX
The problem of inspection of the territory with use of mobile autonomus (independent) robots intelligence agents is considered. This task arises also at a solution of the problem of mines clearing of the territory upon termination of the military conflicts and local wars carried by the UN to global problems of mankind. A number of factors, such as huge area of to the be surveyed territory, shortcoming of highly skilled sappers which preparation demands a progressive tense (and they are mistaken only once) limited time of carrying out researches, etc. caused need of application of specialized robotic complexes. The approach to reduction of time of carrying out inspection of the territory with using of group of robots intelligence agents is considered. For control of group of robots the hierarchical control system is used. To decomposition of an initial task on subtasks there corresponds division of group of robots into subgroups for a solution of each subtask. The quantity of hierarchy levels is defined by complexity of a task and the number of available robots. Change of an external situation, including failure of separate robots, causes need of redistribution of subtasks between operational robots. The intellectual self-organizing automatic control systems (ISOACS) in general are applied to control of robots intelligence agents and group. ISOACS form hierarchical system which senior levels carry out setting of tasks by the subordinate, control of the course of their solution and forming the assessment (according to the set criteria) of their received results used by subordinates for correction of the actions. Criteria of efficiency of a solution of a research problem are entered. The software is developed for carrying out mathematical modeling and a research of algorithms of functioning of intellectual management system by a prospecting robotic complex.