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Method of evaluation of the mobile robot position according to the profile of known environment is suggested and verified. Algo-rithm of coordinates evaluation according to the profile of known environment operates reliably if deviation from real coordinates is considerable, scanner mensuration are affected using white noise and if there are several robots in the scanning environment. However it is necessary that equipment of orientation in environment should be included in mobile robot. Verification of the coordinates should be performed frequently. This procedure should be performed by control system of the robot. Ill. 6, bibl. 7 (in English; abstracts in English and Lithuanian).http://dx.doi.org/10.5755/j01.eee.109.3.177

The present wayward robot on the task tracks the coordinate search, using only scanners, located inside robot. In order to determine robot coordinates, the virtual scanner and scanner obtained profiles are used. The profile mismatch formed optimization criteria, the surface of which has a lot of local minimum, a number of which depends on the scanning step. Selected scanning angle step size, and determined what should be the optimization strategy, that the searched result converged. The obtained results allow carrying out further research, given the setup process dynamics, the robot moves and coordinate accuracy is a critical problem solution in determining the coordinates, time.

Simulation of control systems with large amount of interacting objects requires a powerful computer, because traditionally systems with polling are used. The number of conditions to check on each step of simulations becomes so large, that models become unfunction-al. The new simulation technique, using program interruptions, which are organized by the model itself is proposed. Replace of polling by interruptions lets radically increase the speed of simulation and simplify the model structure. Ill. 6, bibl. 7 (in English; abstracts in English and Lithuanian).http://dx.doi.org/10.5755/j01.eee.108.2.150