About a decentralized solution to the problem of simultaneous arrival of autonomous mobile objects to the final point using large data analysis

The need to switch to more advanced control methods when using a conventional autonomous mobile facility (AMO) to control simultaneous arrivals arises due to excessive deviation. An innovative solution to this problem is the use of a decentralized management method to control the simultaneous arrival of the AMO to the final point, which is based on the analysis of big data. A solution was proposed to combine decentralized information through the use of filtering, on the basis of which the decentralized coordination of formations is managed. The article presents the main characteristics of AMO, shows the parameters of combining information about AMO, describes decentralized coordination management of formation and calculates the optimal path and convergence rate for decentralized management, and also takes into account restrictions on communication delay. An experimental study of errors in the x direction by the proposed method was carried out and compared with errors in the experiment without using this control method. Graphs comparing the convergence rate are also presented. The results of the experiment showed that the decentralized management method has a significant impact on the definition of the aim of AMO and the convergence of errors. Thanks to the proposed approach, it was possible to increase the efficiency of management and reduce errors, thereby proving the expediency of using this management method.

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