Uma abordagem multiagente-heterogêneo para a execução de tarefas em ambientes de operação não-estruturados

Abstract

This work evaluates the effectiveness of the combined application of the technique known as Artificial Potential Fields (APF) with the Consensus technique for heterogeneous multiagent systems composed of Unmanned Aerial Vehicles (UAV) and Unmanned Ground Vehicles (UGV}). Consensus is a technique widely used for coordinated movements in the formation of multiple agents, while the APF technique is typically used for navigation with obstacle avoidance in multi-agent systems due to its simplicity and efficiency. Despite the existence of research involving the use of APF and Consensus together, none explores the cooperation of vehicles with different movement capabilities. In this work, an architecture for multiagent systems composed of UAVs and UGVs is presented for the execution of tasks in outdoor operating environments using the Consensus technique for the formation maintenance, and the APF technique for obstacle avoidance. Simulation experiments are carried out in order to demonstrate that the use of APF and Consensus together is an effective strategy for navigation in formation of a multi-agent system composed of UAVs and UGVs, in environments where obstacles are present.