V.O. Avdeev - Head of Division, Southwest State University (Kursk) A.G. Kurochkin - Post-graduate Student, Department of Information Systems and Technologies, Southwest State University (Kursk) P.V. Lotorev - Post-graduate Student, Department of Information Systems and Technologies, Southwest State University (Kursk) E.A. Titenko - Ch.D. (Eng.), Associate Professor, Department of Information Systems and Technologies, Southwest State University (Kursk) E-mail: johntit@mail.ru

The object of study is the graph representation of the terrain for the robot motion. The aim is the synthesis method and iterative deepening algorithm for directed search down and to the right on the graph without loss of search time. The graph is based on a matrix of cells on the digital map. Each cell array has a local neighborhood. This means that each state has a 8 or 16 branches and similarities. The graph contains are many paths, with multiple occurrences in the previously reviewed fragments of the graph. The possibilities and limitations of complete and heuristic search algorithms in a strongly connected graph. Practical interest is represented search algorithms, performing selective (directed) selection of states and their respective branches of the graph. Among the complete search algorithm with an iterative algorithm is considered recessed. It has a possibility of a perfect choice of all alternatives and possible the choice of priority alternatives. The iterative deepening algorithm exercises alternately an XY scan state graph. This compensates for excessive time losses on the search. The modification of the method and algorithm consists in adding two levels of penetration deepening and the return whose values increase in the search process. These values increase during search. Research methods: system analysis, theory of the algorithms, a decision support theory

 

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