Methods for Applying Matrices when Creating Models of Group Pursuit

Introduction. It is obvious that in the near future, issues of equipping moving robotic systems with autonomous control elements will remain relevant. This requires development models group pursuit. Note optimization pursuit tasks reduced to construction optimal trajectories (shortest trajectories, differential constraints, fuel consumption indicators). At same time, aspects automated distribution by goals were not considered. To fill this gap, presented piece research has been carried out. Its result should be a model pursuers Materials and Methods. A matrix was formed study multiple goal The parameters for movement modified according minimum curvature trajectory. methods approach considered detail. possibilities modifying method parallel shown. Matrix simulation used build scheme listed processes illustrated functions given coordinate animation. Block diagrams phase coordinates pursuer at next step, time distance reaching constructed as base functions. In some cases, location targets defined points on circle Apollonius. samples corresponding goals. Results. Nine variants pursuit, parallel, proportional three-point plane space maximum value achievement calculated. There cases when speed vector directed arbitrarily point Apollonius circle. noted convenient if target along ballistic modify approach, network lines built plane. Here, length arc line (which can any shape) array reference trajectory taken into account. An equation compiled solved these elements. On an values, found, i.e., simultaneous determined. For unified access library, expressed through one-parameter family planes. library calculations vectors formed. example applying presented. two three pursuers, six data form matrix. Based results, computer program created registered – “Parallel Approach Plane Group Pursuers Simultaneous Achievement Goal”. Discussions Conclusion. using matrices modeling investigated. possibility enabled its set purposes. would generated each moment time. Methods forming are interest design virtual reality systems, simulating process escape, evasion. dynamic programming opens up automating specified under formation