Development of intelligent system of mobile robot movement planning in unknown dynamic environment by means of multi-agent system

摘要

Through the ages the world has conceived the projects which are aimed at creatingdiverse models of robots that would be beneficial for exploration of different dangerous surfaceswhere human participation is excluded. Therefore, the main task of the study of this article is todevelop the researches, the object of which is mobile robot movement in unfamiliar environment,based on multi agent apparatus system and neural networks. The aim of the research is to developmethods for creating intellectual systems for planning mobile robot movement in unfamiliarenvironment applying the methods of multi agent apparatus and neural networks ensuring therobot executes the planned and adjusted on the way safe trajectory in an environment withunknown obstacles. Accordingly, the entire study of the article is based on a two-stage process.The first stage involves determination of distance between the robot and the obstacles in itsoperating area as well as classification of the possible location of obstacles, based on theinformation received from distance sensors, using the model of multilayer neural networks.During the second stage bypassing obstacles, wall tracking, movement-to-destination as well asspeed management agents are developed. As the result of the study, a method was suggested forcreating neural network model for classification of environment into agents and their consistentswitching, which, according to the classification table compiled, involves all the possiblelocations of obstacles occurring on the robot’s movement trajectory and allows reducing thenumber of unfamiliar environment situations that are necessary to identify.