{"id":1875,"date":"2021-01-16T20:27:23","date_gmt":"2021-01-16T18:27:23","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=1875"},"modified":"2021-04-30T11:13:54","modified_gmt":"2021-04-30T08:13:54","slug":"%d0%b7%d0%b0%d1%81%d1%82%d0%be%d1%81%d1%83%d0%b2%d0%b0%d0%bd%d0%bd%d1%8f-%d1%81%d0%b8%d0%b3%d0%bd%d0%b0%d0%bb%d1%96%d0%b2-%d0%b4%d0%b5%d1%82%d0%b5%d1%80%d0%bc%d1%96%d0%bd%d0%be%d0%b2%d0%b0%d0%bd%d0%be","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=1875","title":{"rendered":"\u0417\u0430\u0441\u0442\u043e\u0441\u0443\u0432\u0430\u043d\u043d\u044f \u0441\u0438\u0433\u043d\u0430\u043b\u0456\u0432 \u0434\u0435\u0442\u0435\u0440\u043c\u0456\u043d\u043e\u0432\u0430\u043d\u043e\u0433\u043e \u0445\u0430\u043e\u0441\u0443 \u0434\u043b\u044f \u0441\u0438\u0441\u0442\u0435\u043c \u0431\u043b\u0438\u0436\u043d\u044c\u043e\u0457 \u043d\u0430\u0432\u0456\u0433\u0430\u0446\u0456\u0457 \u043c\u043e\u0431\u0456\u043b\u044c\u043d\u0438\u0445 \u0440\u043e\u0431\u043e\u0442\u0456\u0432"},"content":{"rendered":"

\u0417\u0410\u0421\u0422\u041e\u0421\u0423\u0412\u0410\u041d\u041d\u042f \u0421\u0418\u0413\u041d\u0410\u041b\u0406\u0412 \u0414\u0415\u0422\u0415\u0420\u041c\u0406\u041d\u041e\u0412\u0410\u041d\u041e\u0413\u041e \u0425\u0410\u041e\u0421\u0423 \u0414\u041b\u042f \u0421\u0418\u0421\u0422\u0415\u041c \u0411\u041b\u0418\u0416\u041d\u042c\u041e\u0407 \u041d\u0410\u0412\u0406\u0413\u0410\u0426\u0406\u0407 \u041c\u041e\u0411\u0406\u041b\u042c\u041d\u0418\u0425 \u0420\u041e\u0411\u041e\u0422\u0406\u0412<\/p>\n

APPLICATION OF DETERMINED CHAOS SIGNALS IN\u00a0SHORT-RANGE NAVIGATION SYSTEMS\u00a0FOR MOBILE ROBOTS<\/p>\n

<\/a> \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 149-154. \u041d\u043e\u043c\u0435\u0440: \u21166, 2019 (279)<\/strong>
\n\u0410\u0432\u0442\u043e\u0440\u0438: <\/strong>
\n\u041e.\u0421. \u041f\u0418\u0412\u041e\u0412\u0410\u0420, \u041e.\u041e. \u041c\u0418\u0425\u0410\u041b\u042c\u0427\u0423\u041a, \u0406.\u041e. \u0412\u0415\u0420\u0415\u041c\u0406\u0419\u0427\u0423\u041a
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nO. S. PYVOVAR, O. O. MYKHALJCHUK, I. O. VEREMIJCHUK
\nKhmelnytskyi National University
\nDOI:<\/strong> https:\/\/www.doi.org\/10.31891\/2307-5732-2019-279-6-149-154<\/a>
\n\u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review :<\/strong> 13.11.2019 \u0440.
\n\u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed :<\/strong> 02.01.2020 \u0440.<\/p>\n

\u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443<\/strong><\/p>\n

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\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430:<\/strong> \u0445\u0430\u043e\u0441, \u043d\u0430\u0432\u0456\u0433\u0430\u0446\u0456\u0439\u043d\u0456 \u0441\u0438\u0441\u0442\u0435\u043c\u0438, \u0433\u0435\u043d\u0435\u0440\u0430\u0442\u043e\u0440 \u0441\u0438\u0433\u043d\u0430\u043b\u0456\u0432 \u0434\u0435\u0442\u0435\u0440\u043c\u0456\u043d\u043e\u0432\u0430\u043d\u043e\u0433\u043e \u0445\u0430\u043e\u0441\u0443, \u0445\u0430\u043e\u0442\u0438\u0447\u043d\u0430 \u0441\u0438\u043d\u0445\u0440\u043e\u043d\u0456\u0437\u0430\u0446\u0456\u044f.<\/p>\n

\u0420\u043e\u0437\u0448\u0438\u0440\u0435\u043d\u0430 \u0430\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u0430\u043d\u0433\u043b\u0456\u0439\u0441\u044c\u043a\u043e\u044e \u043c\u043e\u0432\u043e\u044e<\/strong><\/p>\n

The widespread use of drones as autonomous mobile systems for the production, transport, service, and combat missions requires effective navigation systems in order for them to function effectively in environments with numerous obstacles. Most mobile navigation problems appear in situations when groups of drones are used in a swarm. Solving such problems is linked to the need for the development of orientation systems; such process organically combines the task of measuring and controlling the distance to the obstacles surrounding the mobile mechanism while ensuring the concealment of action and protection against interference. A complex solution to such problems is possible through the use of nonlinear dynamic systems with a chaotic mode of operation in different ways of interaction with the environment and similar navigation systems. The possibility of using deterministic chaos signals to measure and control physical quantities is considered. The classification scheme of features of measuring process in nonlinear dynamic systems with chaotic modes of operation is offered. A number of parameters and characteristics of chaotic generators which should be used in the measurement process are highlighted, their classification is proposed. It is proposed to use 4D deterministic chaos generators for use in short-range drone navigation in two-dimensional plane. Comparative analysis of correlation properties of several 3D and 4D chaotic generators is carried out. The phase variables of the deterministic chaos generators are selected, which correspond to the tasks of navigation on the basis of phase trajectory divergence. It is proposed to use the principles of chaotic synchronization to build a system of short-range navigation of mobile mechanisms in the plane in order to enhance the ability to control the movement of drones in conditions of multi-channel interference and increase noise immunity in drone navigation systems. Computer simulation of the process of synchronization of chaotic generators of Qi-Chen during change of degree of one-way link between the driving and driven chaotic generators, changes of control parameters of the evolution operator in a nonlinear dynamic system, and signal-to-noise ratio of additive interferences is carried out.
\nKeywords<\/strong> \u2013 chaos, navigation systems, generator of signals of deterministic chaos, chaotic synchronization.<\/p>\n

References<\/strong><\/p>\n

    \n
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  7. Holevych O. B. Vporiadkuvannia ansambliv khaotychnykh syhnaliv ta sposoby yikh vykorystannia v nadshyrokosmuhovykh telekomunikatsiinykh \/ O. B. Holevych O. S. Pyvovar, I. V. Trotsyshyn \/\/ Tsyfrovi tekhnolohii. \u2013 Odesa, 2015. \u2013 \u2116 17. \u2013 S. 181\u2013191.<\/li>\n
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    \u0417\u0410\u0421\u0422\u041e\u0421\u0423\u0412\u0410\u041d\u041d\u042f \u0421\u0418\u0413\u041d\u0410\u041b\u0406\u0412 \u0414\u0415\u0422\u0415\u0420\u041c\u0406\u041d\u041e\u0412\u0410\u041d\u041e\u0413\u041e \u0425\u0410\u041e\u0421\u0423 \u0414\u041b\u042f \u0421\u0418\u0421\u0422\u0415\u041c \u0411\u041b\u0418\u0416\u041d\u042c\u041e\u0407 \u041d\u0410\u0412\u0406\u0413\u0410\u0426\u0406\u0407 \u041c\u041e\u0411\u0406\u041b\u042c\u041d\u0418\u0425 \u0420\u041e\u0411\u041e\u0422\u0406\u0412 APPLICATION OF DETERMINED CHAOS SIGNALS IN\u00a0SHORT-RANGE NAVIGATION SYSTEMS\u00a0FOR MOBILE ROBOTS \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 149-154. \u041d\u043e\u043c\u0435\u0440: \u21166, 2019 (279) \u0410\u0432\u0442\u043e\u0440\u0438: \u041e.\u0421. \u041f\u0418\u0412\u041e\u0412\u0410\u0420, \u041e.\u041e. \u041c\u0418\u0425\u0410\u041b\u042c\u0427\u0423\u041a, \u0406.\u041e. \u0412\u0415\u0420\u0415\u041c\u0406\u0419\u0427\u0423\u041a \u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 O. S. PYVOVAR, O. O. MYKHALJCHUK, I. O. VEREMIJCHUK Khmelnytskyi National University DOI: https:\/\/www.doi.org\/10.31891\/2307-5732-2019-279-6-149-154 \u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review : 13.11.2019 \u0440. […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[19],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1875"}],"collection":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1875"}],"version-history":[{"count":3,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1875\/revisions"}],"predecessor-version":[{"id":6118,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1875\/revisions\/6118"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1875"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1875"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1875"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}