ANALYTICAL REVIEW OF NAVIGATION ISSUES OF MOBILE ROBOTS IN INDOOR ENVIRONMENT

Abstract

Today, mobile robotics is one of the fastest growing areas of scientific research. Thanks to the wide range of capabilities of mobile robots, their use has been implemented in many areas: space exploration, construction, transportation, patrolling, emergency rescue operations, industrial automation, medicine, services, etc. The study of mobile robot navigation has rapidly progressed from robot movement along a fixed line to movement with environmental recognition and adaptation to dynamic objects, such as people surrounding the robots. The article deals with the problem of navigation of mobile robots in closed spaces. The interaction of such mobile robot systems as movement, perception, cognition, and navigation is described. The problems of movement are solved by understanding the mechanism and kinematics, dynamics, and control theory. Perception covers the area of sensor signal analysis. Cognitive functions are responsible for analyzing input data and performing appropriate actions by a mobile robot to achieve goals. Navigation requires knowledge of planning algorithms, information theory, and artificial intelligence to create real-time trajectories and avoid collisions with obstacles. To ensure coordinated operation, these systems must be united by a control unit. The paper analyzes the types of mobile robots and their architectural features. The main tasks of mobile robot navigation are considered: environment modeling, localization, path planning and obstacle avoidance. The article investigates algorithms and methods of localization of mobile robots, provides a classification of methods of path planning, and conducts a comparative analysis of them. The study identified areas for future research: increasing the battery life of mobile robots; improving systems for tracking the location of a mobile robot in space; ensuring optimal decision-making by a robot in real time; integrating new sensors and improving existing ones; improving the functional interaction of mobile robots with people.