MOBILE ROBOT MOVEMENT PLANNING AND CONTROL INTELLIGENT SYSTEM IN UNKNOWN ENVIRONMENT

Robot engineering and related technologies have been rapidly developing during the last decades providing more and more opportunities for using robots in various fields of human activity. In the first place, this is due to continuous improvement of the characteristics of robot engines, energy resources, on-board system calculation tools, and, most importantly, development of sensory tools. This not only improves the management of the robot movement, but also allows for developing custom control systems of advanced levels. At the beginning of this century, the most rapid development in the field of mobile robots was observed in autonomous mobile robots that function in an unknown environment, which constitute the research object of this article. Therefore, the purpose of this article is to prepare the intelligent systems development methods for mobile robot motion planning, which ensure that the robot performs a planned and adjusted during the movement safe trajectory in an environment with unfamiliar obstacles. In order to achieve this purpose, a theoretical research of the mechatronic mobile robot's movement in an unknown environment was carried out, based on which the corresponding results of the research have been obtained, i.e. the theoretical operative control systems for mobile robot's movement in an unknown environment have been tested in real practical situation by designing a theoretical scheme for this research that consists of a laboratory model of a bi-cycle mobile robot and a special algorithm for its operative control. The results of the research evaluate the effectiveness of such mobile robot operation, also they show the progress and resutls of the theoretical experiment in unknown environment with certain obstacles set out in random places on the mobile robot path, as well as they identify the main factors how to improve the experimental research base.