SYNTHESIS OF MOBILE OBJECTS COMPROMISABLE OPTIMAL TRAJECTORIES IN THE CONFLICT ENVIRONMENT

• Main Authors: Albert M. Voronin, Yurii K. Ziatdinov, Oleksandr Y. Permiakov, Ihor D. Varlamov
• Format: Article
• Language: English
• Published: National Defence University of Ukraine named after Ivan Cherniakhovsky 2015-04-01
• Series: Sučasnì Informacìjnì Tehnologìï u Sferì Bezpeki ta Oboroni
• Subjects: management; multi-objective optimization; variation problem; nonlinear scheme of compromises; intelligent robot; potential function; conflicting objects.
• Online Access: http://sit.nuou.org.ua/article/view/43383
• ISSN: 2311-7249; 2410-7336

This paper presents the problem of moving objects optimal trajectories in the conflict environment, as well as the opposite problem of optimizing the placement of the active conflicting objects. Conflict environment implies both passive and active components.  In solving the direct problem is taken into account that the requirements to the mobile moving objects trajectories in a conflict environment, determine characteristic for multicriteria problems inevitability of compromise solutions. In this regard, the problem of optimal movement trajectory synthesis under given conditions is solved by the dynamic programming method with optimality criterion obtained by as nonlinear compromise scheme scalar convolution. The generalized criterion consists of three particular criteria: the first defines the approach safety degree to the restricted zones borders, the second characterizes the transfer length, the third partial criterion defines the approach safety degree to the alien moving object.  The opposite optimization problem of active conflict subjects placement suggests that the mobile object motion to the target endpoint is maximum hampered, and the cost spending for system operation is minimized. This problem is solved by the multi-criteria method of dynamic programming. In accordance with this method when determining the mobile object optimal motion trajectory the on each step the functional Bellman equation is solved. In this case, the best placing structure corresponds to the maximum value of the total expenditure. The structure optimization of placing active conflict objects in general consists of applying the dynamic programming method and the tree structures method combination.