Problem of Optimal Area Monitoring and Universal Motion Stabilisation System for its Practical Realisation

• Published in: 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT) pp. 7 - 12
• Main Authors: Diveev, Askhat, Sofronova, Elena
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-07-2024
• Subjects: Accuracy; Feedback control; Information technology; Monitoring; Optimal control; Optimization; Perturbation methods; Quadrotors; Search problems; Trajectory
• ISSN: 2576-3555
• DOI: 10.1109/CoDIT62066.2024.10708355

The area monitoring problem is considered as optimization task. The problem belongs to the class of global optimization. First, the problem of finding optimal trajectories is solved so that the control objects, when moving along these trajectories, observe the entire area, do not collide with each other and do not violate phase constraints. One of the main quality criteria when searching for trajectories is their minimum total length, and the closeness of the trajectory lengths of each control object. Subsequently, the optimal control problem is solved in order to ensure the movement of the object along the obtained optimal trajectory. To solve the problem in class of implemented in real object control functions the stabilisation system of control object motion along a given trajectory is synthesized. When solving the optimal control problem, the same criteria are considered as when finding optimal trajectories, with the addition of the accuracy of passing points on trajectories. An illustrative example of solving the optimal area monitoring problem by two quadcopters with one circular phase constraint is provided. Symbolic regression is employed to synthesise a system for stabilising the movement of an object along the optimal trajectory.