An Algorithm for Calculating the Activation Function of Motion for a Group of Robots
At present, the main research in the field of robot group management is carried out in many industrialized countries of the world. However, a number of acute problems in the development of full-fledged systems with collective behavior remain unsolved. The purpose of the research is to develop an algorithm for calculating the PWM function to match the movement of a robot in the group. In accordance with the goal and to solve the problem identified, the following tasks have been determined in the work: to develop the principle of collecting and analyzing the information of the sensors of the agent of the system; develop an algorithm for the directed movement of an individual agent. The research hypothesis is that using the sigmoid function to generate the PWM control signal allows achieving non-linearity in the work of the robot within the group while simultaneously reducing the software control algorithm. The research methods include statistical physics, methods of the theory of automatic control, methods of group control, methods of mathematical modeling and evolutionary methods. The results are as follows: the principle of processing sensor signals with subsequent control of a single robot was developed based on a combination of discrete control functions. In connection with this, the development time of the robot control program (or the work algorithm) has been shortened; the speed of information processing from sensors and decision-making has been increased; reduced power consumption of the computational core; the functional possibilities and areas of application of robots are expanded due to the construction of collective application.