Застосування сигналів детермінованого хаосу для систем ближньої навігації мобільних роботів
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Файли
Дата
2019
Автори
Пивовар, О.С.
Михальчук, О.О.
Веремійчук, І.О.
Pyvovar, O.S.
Mykhaljchuk, O.O.
Veremijchuk, I.O.
Назва журналу
Номер ISSN
Назва тому
Видавець
Хмельницький національний університет
Анотація
Показана можливість використання властивостей сигналів детермінованого хаосу для завдань
вимірювання та контролю ближніх відстаней. Запропоновано ряд моделей систем ближньої навігації мобільних
роботів на пласких поверхнях із перешкодами на основі застосування генераторів детермінованого хаосу та їх
взаємодії під час односпрямованої хаотичної синхронізації. Аналіз запропонованих моделей підтверджує
теоретичні обґрунтування щодо збільшення рівня прихованості дії, завадостійкості в умовах адитивних шумових
завад та роботи групи подібних систем у складі рою.
The widespread use of drones as autonomous mobile systems for the production, transport, service, and combat missions requires effective navigation systems in order for them to function effectively in environments with numerous obstacles. Most mobile navigation problems appear in situations when groups of drones are used in a swarm. Solving such problems is linked to the need for the development of orientation systems; such process organically combines the task of measuring and controlling the distance to the obstacles surrounding the mobile mechanism while ensuring the concealment of action and protection against interference. A complex solution to such problems is possible through the use of nonlinear dynamic systems with a chaotic mode of operation in different ways of interaction with the environment and similar navigation systems. The possibility of using deterministic chaos signals to measure and control physical quantities is considered. The classification scheme of features of measuring process in nonlinear dynamic systems with chaotic modes of operation is offered. A number of parameters and characteristics of chaotic generators which should be used in the measurement process are highlighted, their classification is proposed. It is proposed to use 4D deterministic chaos generators for use in short-range drone navigation in twodimensional plane. Comparative analysis of correlation properties of several 3D and 4D chaotic generators is carried out. The phase variables of the deterministic chaos generators are selected, which correspond to the tasks of navigation on the basis of phase trajectory divergence. It is proposed to use the principles of chaotic synchronization to build a system of short-range navigation of mobile mechanisms in the plane in order to enhance the ability to control the movement of drones in conditions of multi-channel interference and increase noise immunity in drone navigation systems. Computer simulation of the process of synchronization of chaotic generators of Qi-Chen during change of degree of one-way link between the driving and driven chaotic generators, changes of control parameters of the evolution operator in a nonlinear dynamic system, and signal-to-noise ratio of additive interferences is carried out.
The widespread use of drones as autonomous mobile systems for the production, transport, service, and combat missions requires effective navigation systems in order for them to function effectively in environments with numerous obstacles. Most mobile navigation problems appear in situations when groups of drones are used in a swarm. Solving such problems is linked to the need for the development of orientation systems; such process organically combines the task of measuring and controlling the distance to the obstacles surrounding the mobile mechanism while ensuring the concealment of action and protection against interference. A complex solution to such problems is possible through the use of nonlinear dynamic systems with a chaotic mode of operation in different ways of interaction with the environment and similar navigation systems. The possibility of using deterministic chaos signals to measure and control physical quantities is considered. The classification scheme of features of measuring process in nonlinear dynamic systems with chaotic modes of operation is offered. A number of parameters and characteristics of chaotic generators which should be used in the measurement process are highlighted, their classification is proposed. It is proposed to use 4D deterministic chaos generators for use in short-range drone navigation in twodimensional plane. Comparative analysis of correlation properties of several 3D and 4D chaotic generators is carried out. The phase variables of the deterministic chaos generators are selected, which correspond to the tasks of navigation on the basis of phase trajectory divergence. It is proposed to use the principles of chaotic synchronization to build a system of short-range navigation of mobile mechanisms in the plane in order to enhance the ability to control the movement of drones in conditions of multi-channel interference and increase noise immunity in drone navigation systems. Computer simulation of the process of synchronization of chaotic generators of Qi-Chen during change of degree of one-way link between the driving and driven chaotic generators, changes of control parameters of the evolution operator in a nonlinear dynamic system, and signal-to-noise ratio of additive interferences is carried out.
Опис
Ключові слова
хаос, навігаційні системи, генератор сигналів детермінованого хаосу, хаотична синхронізація, chaos, navigation systems, generator of signals of deterministic chaos, chaotic synchronization
Бібліографічний опис
Пивовар, О.С. Застосування сигналів детермінованого хаосу для систем ближньої навігації мобільних роботів [Текст] / О. С. Пивовар, О. О. Михальчук, І. О. Веремійчук // Вісник Хмельницького національного університету. Технічні науки. – 2019. – №6. – С. 149-154.