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- Article name
- ALGORITHM FOR PLANNING THE MOVEMENT OF A MOBILE ROBOT
- Authors
- Dubinin D. P., , dubinindp@yandex.ru, Moscow Aviation Institute (National Research University), Moscow, Russia
- Keywords
- mobile robot / trajectory / navigation system / planning algorithm / collision probabilities / simulation model / MATLAB
- Year
- 2021 Issue 1 Pages 46 - 49
- Code EDN
- Code DOI
- 10.52190/1729-6552_2021_1_46
- Abstract
- The work is devoted to the development of an algorithm for planning the movement of an autonomous mobile robot, which is based on calculating the probability of reaching specific points of the terrain planned for crossing, using the data of the navigation system on distances and angular coordinates. To test the algorithm, a simulation model was developed in MATLAB using the Simulink complex. Simulation was carried out, during which the most dangerous section of the path and the probability of a robot colliding with an obstacle were calculated. Conclusions are made about the planned enhancements of the algorithm and model.
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