A mobile robot is a complex system capable of receiving information about the outside world and using it to move safely in a purposeful way. The work information subsystem can determine its position using sensors, as well as the location of static and dynamic objects in the workspace. The robot's movement to the target point is carried out according to various algorithms. These algorithms implement various methods of planning the trajectory of movement to the target point: to prevent the robot from colliding with barriers, to reduce the travel time and distance traveled to save battery power. Mobile robots can function in a dynamic environment with a significant degree of uncertainty. One of the main tasks of a mobile robot is planning trajectories by controlling the movement of the robot to reach target point. This article proposes a method for planning trajectory of a mobile robot by controlling its movement. The method is based on simulation of the movement of a mobile robot in an environment with fixed and movable barriers. It is assumed that the direction of dynamic obstacles can change randomly.
The movement of a mobile robot in a non-deterministic environment is accompanied by maneuvering due to the need to avoid a collision with a fixed or moving obstacle. Under certain conditions, several obstacles, including moving ones, may appear in the near zone of the robot. In this case, trajectory-planning algorithms based on a “static” approach to the position of obstacles will not be effective; their application may lead to collisions. Finding the path of movement in conditions of dynamic obstacles is an urgent task that researchers are trying to solve using various methods. The article proposes a method for planning the actions and movements of a mobile robot in non-deterministic conditions, in the presence of fixed and moving obstacles. The processes of planning the trajectories of a mobile robot in the presence of obstacles in the near zone are considered. Methods and algorithms for making decisions on avoiding obstacles based on the estimated collision probabilities in the forecast interval are proposed.
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