P.V. Lotorev - Post-graduate Student, South-West State University (Kursk). E-mail: pashik_email@mail.ru A.G. Kurochkin - Post-graduate Student, South-West State University (Kursk). E-mail: ak76@kursk.ru A.V. Grivachev - Post-graduate Student, South-West State University (Kursk). E-mail: Garpun-22@mail.ru

This article describes the development of mathematical models in the vector form. These vectors contain a global, current and modifiable value. They are necessary to the robot as a basis of algorithmic and mathematical constructs for the synthesis of alternative steps. The classical approach has no basis for making a robot the freedom of choice of the current step. Robot deprived of algorithmic and mathematical constructs for the synthesis of alternative steps, which is a limitation. The novelty of the mathematical model is the standard operation of the projection of adding two vectors. In this case, the addition of unidirectional vectors, total amount given direction is not less than the original length. This condition is a criterion for a possible change of the reference position of the route. In general, the correction of the route is performed in excess of a limit value of the deviation from the movement area.

 

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