Decentralized algorithm for building a transport column

Lyakhmanov Dmitry Alexandrovich, Kapranov Sergey Nikolaevich, Васильев Роман Александрович

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.