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Decentralized algorithm for building a transport column

Lyakhmanov Dmitry Alexandrovich  (сandidate of Technical Sciences, Associate Professor, Nizhny Novgorod State Technical University)

Kapranov Sergey Nikolaevich  (сandidate of Technical Sciences, Associate Professor, Nizhny Novgorod State Technical University)

Васильев Роман Александрович  (сandidate of Technical Sciences, Associate Professor, Nizhny Novgorod State Technical University)

This article discusses the algorithms for the formation of a column from an unorganized group of autonomous vehicles that are not connected to each other in the conditions of the Arctic and subarctic latitudes. The principle of forming a column is to find its leader for each vehicle included in the group. The article compares two developed algorithms: centralized and decentralized. With a centralized method, the search for the optimal way to form a column is carried out by one of the vehicles selected using the pseudo-random voting algorithm. With a decentralized method, the construction of a transport column is carried out by searching for its leader by each vehicle and is based on the principles of group interaction without an arbitrator. To conduct a comparative analysis, software has been developed that implements both algorithms and simulates a spatially dispersed transport group. The results of testing in a computer model showed the consistency of both algorithms, and emphasized the choice in favor of a decentralized algorithm, as more preferable in terms of reliability and fault tolerance.

Keywords:Arctic, automation, transport convoy formation, centralized control, decentralized control, Jarvis algorithm.
 

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Citation link:
Lyakhmanov D. A., Kapranov S. N., Васильев Р. А. Decentralized algorithm for building a transport column // Современная наука: актуальные проблемы теории и практики. Серия: Естественные и Технические Науки. -2022. -№12/2. -С. 93-102 DOI 10.37882/2223-2966.2022.12-2.20
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