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The scheme of interaction of algorithms for the control for the movement of mobile robot

Keywords:

A.V. Grivachev - Post-graduate Student, Department of Information Systems and Technologies, Southwest State University (Kursk) E-mail: Garpun-22@mail.ru A.G. Kurochkin - Post-graduate Student, Department of Information Systems and Technologies, Southwest State University (Kursk) E-mail: ak.kursk@mail.ru P.V. Lotorev - Post-graduate Student, Department of Information Systems and Technologies, Southwest State University (Kursk) E-mail: pashik@mail.ru V.O. Avdeev - Head division, Department of Information Systems and Technologies, Southwest State University (Kursk) E-mail: v.o.avdeev@gmail.com M.V. Borodin - Ph.D. (Eng.), Associate Professor, Department of Information Systems and Technology, Southwest State University (Kursk) E-mail: borodin_mikhail@mail.ru


The object of study are the processes and schemes of automatic robot. The robot uses technical means of perception of the external environment and search and planning algorithms for constructing or correcting route. The aim is to increase the level of intellectualization traffic control system in a rapidly changing environment. The movement of the robot understood as an independent work, based on the route setting and using methods and pattern recognition tools. Important basic tasks automatic movement is the task of preparing the map terrain and the task of building the route. The first task is performed in three steps: pre-processing of digital images, vectorization, interpretation of objects in the picture. At the stage of pre-treatment processes are carried out filtering and processing of contrasts of the pixels and the pixels areas. Phase vectoring provides edge detection of various objects. Step decrypt specified as the detection and characterization of objects. The second task uses this map terrain. The map shows the static obstacles. Automatic route planning includes the stages of conversion of electronic maps in a matrix form, the implementation of preparatory calculations the evaluation distance and route planning on the reference points. Interaction scheme combines these stages into a single software system of automatic movements.
References:

 

  1. Lotorev P.V., Kurochkin A.G., Grivachev A.V. Matematicheskaja model dinamicheskojj korrekcii marshruta podvizhnogo robota // Naukoemkie tekhnologii. 2016. T. 17. № 3. S. 21–25.
  2. Titenko E.A. i dr. Modificirovannaja produkcionnaja sistema dlja reshenija zadachi strukturnogo raspoznavanija obrazov // Izv. JUgo-Zapadnogo gosudarstvennogo universiteta. Ser Upravlenie, vychislitelnaja tekhnika, informatika. Medicinskoe priborostroenie. 2011. № 2. S. 45–50.
  3. Lotorev P.V., Kurochkin A.G., Grivachev A.V., Emeljanov S.G. Organizacija sistemy podderzhki prinjatija reshenijj dlja upravlenija gruppojj robotov // Izv. JUgo-Zapadnogo gosudarstvennogo universiteta. Ser. Upravlenie, vychislitelnaja tekhnika, informatika. Medicinskoe priborostroenie. 2015. № 3 (16). S. 30–36.
  4. Kurochkin A.G., Emeljanov S.G., Titenko E.A. Analiz algoritmov poiska po obrazcu dlja upravlenija gruppojj robotov // Naukoemkie tekhnologii. 2014. T. 15. № 12. S. 4–8.

 

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