The article proposes an algorithm for the functioning of adaptive motion control systems of a group of mobile transport robots in conditions of uncertainty. The algorithm was developed based on the Markov method of identification and the method of analytical synthesis of systems with control by output and effects. The adaptive control system in which this algorithm is used has direct quality indicators not worse than those specified. The proposed algorithm can be used to create control systems for technical objects of various types, with previously unknown mathematical models.
Keywords: mobile robot, group, uncertainty, identification, Markov parameter, control by output and effects, system
This paper provides solution for the task of plane movement of the underwater vehicle using hierarchical control system. Searching A*-algorithm is used for creation of the path plan. Vehicle moves along the stated path under control of position-path regulator on the base of square form. Vehicle, used in this paper features torpedo-like form, two cruise engines and maneuvering device.
Keywords: mathematical model, underwater vehicle, planning, position-path control, A*-algorithm
The purpose and objectives of this work is to develop methods for planning the trajectory of moving objects. Achieving the goals and objectives achieved by the development of the motion planner mobile autonomous robot based on fuzzy logic . With the software package Matlab simulation results obtained fuzzy scheduler works in an environment with unknown location of obstacles.
Keywords: mobile robot, vehicle, planner, fuzzy logic, behavior, coordination, algorithm
The purpose and objectives of this work is to develop methods of planning the path of the mobile autonomous robots operating in environments with unknown location of obstacles. The result of the article is vague planner travel path of autonomous mobile robots for three-dimensional space (3D environments). The results differ from known analogues structure proposed planner, consisting of two interconnected parts, designed for use in horizontal and vertical planes, context-sensitive coordination method "simple" behavior of the mobile robot, a set of rules governing the method of prevention "jam" in the obstacles.
Keywords: Quad copter, management, uncertainty, decision making, fuzzy logic