O.I. Davydov - Ph.D. (Eng.), International Laboratory «Sensorika» (Moscow) V.E. Pryanichnikov - Dr.Sc (Eng.)., Professor, Keldysh Institute of Applied Mathematics Russian Academy of Sciences; International Institute of New Educational Technologies, RSUH; Head of Department, Moscow State Technological University «STANKIN»; University of Zadar (Moscow)

The paper describes control algorithm for a mobile robot with ultrasonic sensors, as the main source of data, which determine the number of sensors and their position on the robot\\\'s body. The original method of sensor data fusion is proposed and the algorithm for building geometric model of the environment. It demonstrates the procedure for using this model by the robot control system to plan the route on-the-fly, to build path to the local subgoals, and to generate the control signals for the robot\\\'s motors. The mobile robots AMUR were used to test this approach. The task of the robot motion control is achieved in three stages. In the first step the raw data is filtered and processed, resulting in a model of the operating environment in the form of an array «PassFrames». In the second stage, based on this array planned a route, formed a chain of sub-goals, which skirts the obstacles to the target position of the robot. In the third stage, the trajectory, generates a control feedback for drives that allow the robot to move to the next nearest sub-chain. These steps are performed cyclically for each updating, received from the sensors.

 

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