DEVELOPMENT OF AN INTELLIGENT ROBOT CONTROL SUBSYSTEM

Abstract

The subsystem should provide the following functionalities: planning of trajectories of movement of an intelligent robot in an a priori uncertain dynamic environment of operation: representation of opposing objects of the environment and functional and executive nodes of a mobile robot using a fuzzy configuration space; formation of a movement trajectory with a fixed level of confidence; updating the environment map when exploring new areas of the operating environment; real-time operation of the scheduler; modularity and scalability of the subsystem. To successfully navigate in space, the robot control system must be able to build a route, control movement parameters, correctly interpret information about the world around it received from sensors, and constantly track its own coordinates. The paper investigates the development of control subsystems for an intelligent robot. To achieve this goal, the initial data were analyzed, the general principle of building a simulation model of the robot was described, and a structural diagram of the control system of an intelligent robot was developed.