The Study of Intelligent Control Elements of a Mobile Robot and Ensuring Information Security of the Process of Its Functioning in a Dynamic Environment

Abstract

Purpose of research. The study presented in this article is aimed at establishing and substantiating the principles of effective incorporation of intelligent elements of the control system of a mobile robot operating in a dynamic environment. The subject of the study was the procedure of simultaneous localization and mapping involved in the control. Indicators related to ensuring the information security of the process of robot functioning in real operating conditions were used as the performance criterion.Methods. A methodology for the experimental study of the software procedure execution for simultaneous localization and mapping within the framework of the task of controlling a mobile robot has been developed and implemented. The main focus of the study is a computer model of an abstract mobile robot performing reconnaissance functions in a virtual dynamic environment. The incorporated elements of intelligent information processing into the procedure of simultaneous localization and mapping are convolutional and fully connected neural network layers that provide filtering of dynamic objects.Results. When conducting this experimental study, a simulation of the process of functioning of a computer model of a reconnaissance mobile robot in a virtual environment has been performed. Similar experiments have been reproduced with various structural and functional configurations of the procedure for simultaneous localization and mapping. Quantitative results have been obtained, demonstrating the accuracy of positioning the subject of the study for each of the methods of organizing this procedure. A comparative analysis of the options for using the elements of intelligent information processing within this procedure has been carried out.Conclusion. It has been established that incorporation of the elements of intelligent information processing into the procedure of simultaneous localization and mapping has an impact on the positioning accuracy of a mobile robot and the reliability of its functioning in a dynamic environment. This contributes to the compliance with information security standards when using mobile robots in real operating conditions. It is also determined that there is their excessive use, which leads to a deviation from the optimal qualities necessary for effective autonomous control of a mobile robot and information security provision.