Article

Article title AUTONOMOUS MOBILE ROBOTS- NAVIGATION AND CONTROL
Authors B.B. Mikhailov, A.V. Nazarova, A.S. Yuschenko
Section SECTION I. TECHNOLOGY MANAGEMENT AND MODELING
Month, Year 02, 2016 @en
Index UDC 621.865(075.8)
DOI
Abstract The new methods of control and navigation of autonomous mobile robots in undetermined environment are under consideration in the paper. The human operator can only observe the behavior of the robotic system and state the new tasks. The feedback may be in form of speech. So the control task acquires a form of a dialogue between human and robot accompanied by graphic and speech information. Important part in the autonomous robot control is the navigation system proving the robot to appreciate the environment and to plan its own way. Also in presence of other moving objects in the scene. Automatization of such operations may make sufficiently easer the tasks of the operator by the intellectualization of control system of the mobile robot. One of these tasks is the robot return in case of communication loss with the operator. The new mode of operator’s control lead to new mode of control system which now has to take into consideration the possibilities of human to perceive information and to accept the necessary decisions. One of the way to solve the problem is the application of fuzzy logic both on the stage of perception and on the stage of planning and decision. Application of the “natural” relations of space and of time make the dialogue similar to the dialogue between the master and assistant. So such robotic systems may be named the cooperative ones. Their practical applications usually demand the participation of a group of autonomous robots to fulfil the stated task. Some results in this direction also is presented.

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Keywords Autonomous mobile robots; navigation system; SLAM; fuzzy logic; linguistic variable; fuzzy logic inference; multiagent robotic systems.
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