Abstract:
The known algorithms for planning the trajectory of movement
of mobile robots in an unknown environment have high computational
complexity or do not allow finding the trajectory that is optimal along the
length of the path, while maintaining a safe distance from obstacles. The aim
of the work is to increase the efficiency of solving the problem of planning
the trajectory of movement of mobile robots from the initial position to the
final position in an unknown environment with obstacles, taking into
account the limited capabilities (sensory and computational) of mobile
robots. The solution to this problem was carried out on the basis of step-bystep optimization of the current position of the robot relative to a given
target. The proposed method analyzes the possibility of a robot moving in
directions determined by means of analytical geometry based on
measurements of on-board distance sensors. An element of scientific novelty
is the procedure for calculating trajectory segments based on the choice of
an intermediate state and correcting the trajectory taking into account the
measurements of the on-board distance sensors of the mobile robot. The
proposed method makes it possible to search for the trajectory of a mobile
robot in an unknown environment while ensuring a given distance to
obstacles. The use of the presented algorithm allows the robot to maintain a
high efficiency of the task while functioning in conditions of information
deficiency. The reliability of the results was confirmed in the course of
software simulation. The solution of the problem, taking into account these
features, made it possible to reduce the computational complexity of the
method, as well as to remove restrictions on the use of trajectory planning
algorithms for mobile robots with low-performance on-board sensors and
computing devices. The presented algorithm is implemented in the form of
software in the Python programming language, which can be used to
simulate autonomous control systems for mobile robots.
