title: ÐÐ»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÑ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¹ Ð³ÑÑÐ¿Ð¿Ñ Ð³ÐµÑÐµÑÐ¾Ð³ÐµÐ½Ð½ÑÑ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Planning transport operations of a group of heterogeneous autonomous robots
Creators: name: ÐÑÑÑÑÐºÐ¸Ñ, ÐÐ½Ð´ÑÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÑÐ¸
ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÐµ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¸
Ð³ÑÑÐ¿Ð¿Ð° ÑÐ¾Ð±Ð¾ÑÐ¾Ð²
Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½ÑÐµ ÑÐ¾Ð±Ð¾ÑÑ
Ð³ÑÐ°Ñ
path planning
transportation operations
a group of robots
autonomous robots
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description: Ð Ð°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐµÑÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸ Ð´Ð¾ÑÑÐ°Ð²ÐºÐ¸ Ð³ÑÑÐ·Ð¾Ð² Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑ Ð³ÑÑÐ¿Ð¿Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð². ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1) Ð¸Ð·ÑÑÐµÐ½Ð¸Ðµ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¸ Ð¿Ð¾Ð´ÑÐ¾Ð´Ð¾Ð² ÑÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´Ð°Ñ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐµÐ¹; 2) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÑÑÐ°ÑÐµÐ³Ð¸Ð¹ ÑÐµÑÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸; 3) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ Ð¾Ð±ÐµÑÐ¿ÐµÑÐµÐ½Ð¸Ñ, ÑÐµÐ°Ð»Ð¸Ð·ÑÑÑÐµÐ³Ð¾ Ð¼ÐµÑÐ¾Ð´; 4) Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² ÑÑÑÐ°ÑÐµÐ³Ð¸Ð¸; 5) ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÐ¸ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð½ÑÑ ÑÑÑÐ°ÑÐµÐ³Ð¸Ð¹. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð², ÑÐ°ÑÐ¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ ÑÐµÐ»ÐµÐ¹ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ Ð¿ÑÑÐ¸, Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð½ÑÑ ÑÑÑÐ°ÑÐµÐ³Ð¸Ð¹. Ð Ð°Ð·Ð»Ð¸ÑÐ¸Ñ ÑÑÑÐ°ÑÐµÐ³Ð¸Ð¹ ÑÐ¾ÑÑÐ¾ÑÑ Ð² ÑÐ°ÑÑÐ¾ÑÐµ Ð²Ð¾Ð·Ð²ÑÐ°ÑÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ° Ð² Ð½Ð°ÑÐ°Ð»ÑÐ½ÑÑ ÑÐ¾ÑÐºÑ. Ð ÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð¸ Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° Ð½Ð° ÑÐ·ÑÐºÐµ Python. ÐÐ»Ñ Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð»Ð°ÑÑ Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ° Matplotlib. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð²ÑÑÐ²Ð»ÐµÐ½Ð¾, ÑÑÐ¾ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÐ²Ð»ÑÐµÑÑÑ ÑÑÑÐ°ÑÐµÐ³Ð¸Ñ, Ð¿ÑÐ¸ ÐºÐ¾ÑÐ¾ÑÐ¾Ð¹ ÑÐ¾Ð±Ð¾Ñ Ð²ÑÐ±Ð¸ÑÐ°ÐµÑ ÑÐ»ÐµÐ´ÑÑÑÑÑ ÑÐµÐ»Ñ ÑÐ¾Ð»ÑÐºÐ¾ Ð² Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¾Ñ ÑÐ°ÑÑÑÐ¾ÑÐ½Ð¸Ñ Ð´Ð¾ Ð½ÐµÐµ Ð¸ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐ¸ Ð²ÑÐ¿Ð¾Ð»Ð½Ð¸ÑÑ Ð·Ð°ÐºÐ°Ð·. ÐÑÐ±ÑÐ°Ð½Ð½Ð°Ñ ÑÑÑÐ°ÑÐµÐ³Ð¸Ñ Ð±ÑÐ»Ð° Ð´Ð¾Ð¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½Ð¾ ÑÐ»ÑÑÑÐµÐ½Ð° Ð´Ð¾Ð±Ð°Ð²Ð»ÐµÐ½Ð¸Ðµ ÑÑÐ½ÐºÑÐ¸Ð¸ ÑÐ°ÑÑÐ¸ÑÐ½Ð¾Ð³Ð¾ Ð¸Ð³Ð½Ð¾ÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð²Ð¾Ð·Ð²ÑÐ°ÑÐµÐ½Ð¸Ñ Ð² Ð½Ð°ÑÐ°Ð»ÑÐ½ÑÑ ÑÐ¾ÑÐºÑ. ÐÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð½ÑÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¼Ð¾Ð³ÑÑ Ð±ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð¿ÑÐ¸ ÑÐµÑÐµÐ½Ð¸Ð¸ Ð»Ð¾Ð³Ð¸ÑÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð·Ð°Ð´Ð°Ñ Ð² Ð½ÐµÐ±Ð¾Ð»ÑÑÐ¾Ð¹ Ð·Ð¾Ð½Ðµ, Ð² ÑÐ°ÑÑÐ½Ð¾ÑÑÐ¸ Ð¿ÐµÑÐµÐ²Ð¾Ð·ÐºÐ° Ð³ÑÑÐ·Ð¾Ð² Ð½Ð° ÑÐ°Ð±ÑÐ¸ÐºÐµ Ð¸Ð»Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð´Ð¾ÑÑÐ°Ð²ÐºÐ¾Ð¹ Ð±Ð°Ð³Ð°Ð¶Ð° Ð¼ÐµÐ¶Ð´Ñ ÑÐ°Ð¼Ð¾Ð»ÐµÑÐ°Ð¼Ð¸ Ð¸ Ð¿Ð°ÑÑÐ°Ð¶Ð¸ÑÐ°Ð¼Ð¸ Ð² Ð°ÑÑÐ¾Ð¿Ð¾ÑÑÑ.
description: The work is devoted to the study of methods and algorithms for route planning and the development of solutions to the transport problem of cargo delivery using a group of robots. Tasks that were solved during the study: 1) the study of existing methods and approaches to solving problems of path planning; 2) development of strategies for solving the transport problem; 3) development of software that implements the method; 4) visualization of the results of the strategy; 5) comparison of the effectiveness of implemented strategies. In the course of the work, algorithms for the movement of robots, distribution of goals and construction of a path based on the proposed strategies have been developed. The differences in strategies are the frequency of returning the robot to the starting point. Implementation and visualization of the algorithm is done in Python. For visualization, the Matplotlib library was used. As a result of the study, it was found that the optimal strategy is that the robot selects the next target only depending on the distance to it and the ability to complete the order. The chosen strategy was further improved by adding a function of partially ignoring the return to the starting point. The proposed algorithms can be used to solve logistics problems in a small area, in particular, the transportation of goods at the factory or the management of baggage delivery between aircraft and passengers at the airport.