METHOD FOR AUTOMATIC FORMATION OF SMOOTH MOBILE ROBOT MOTION TRAJECTORIES IN UNKNOWN ENVIRONMENT

摘要

FIELD: means of ensuring safety.SUBSTANCE: invention relates to robotics, in particular to planning of movements of autonomous mobile robots, such as underwater vehicles, unmanned aerial vehicles, ground robots, in a previously unknown environment. Method includes determining the location of the robot, processing information from the airborne rangefinder to determine the distance to possible obstacles and forming a movement trajectory taking into account the detected obstacles. Movement trajectory of the mobile robot is formed in the form of a smooth curve passing through a predetermined sequence of target points, ensuring its location at a distance from the detected obstacles not less than the allowable. Continuous correction of the trajectory is carried out taking into account the position of the additional target point, the coordinates of which are calculated on the basis of the detected obstacle data, which are obtained from the airborne rangefinder.EFFECT: invention provides automatic generation of safe trajectories of high-speed movement of robots in an environment with obstacles in real time without the use of complex and expensive technical and computing devices.1 cl, 2 dwg