Algorithm for Finding the Optimal Way to Move a Mobile Platform Among Indefinite Obstacles

Abstract

The paper describes a method for determining the trajectory of a mobile robot inside a production room among obstacles. To determine the path of movement, a navigation system is used, which determines the robot's own coordinates, plans the trajectory at the current time and controls its movement. A software tool for modeling the behavior of a mobile robot taking into account the properties of its mechatronic platform is proposed. The model of the adaptive control system of the mobile platform is described. The block diagram of the program for modeling the method of finding the optimal way to move a mobile platform among uncertain obstacles is considered. The simulation results are given.