UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT
Background. In modern production, optimization of production processes is becoming increasingly important. This article discusses the principles of path construction by an autonomous mobile robot, including in an environment with static and dynamic obstacles. Materials and methods. The research is...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Penza State University Publishing House
2025-05-01
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| Series: | Измерение, мониторинг, управление, контроль |
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| author | V.R. Aleksandrov N.V. Azarnov A.A. Schetkin A.P. Kushnir R.M. Оgoreltcev |
| author_facet | V.R. Aleksandrov N.V. Azarnov A.A. Schetkin A.P. Kushnir R.M. Оgoreltcev |
| author_sort | V.R. Aleksandrov |
| collection | DOAJ |
| description | Background. In modern production, optimization of production processes is becoming increasingly important. This article discusses the principles of path construction by an autonomous mobile robot, including in an environment with static and dynamic obstacles. Materials and methods. The research is based on the interaction of MES/APS systems (Manufacturing Execution System/Advanced Planning and Scheduling) in combination with IIoT (Industrial Internet of Things) and mobile robots. Results. An algorithm of relay control with an artificial dead zone and an algorithm of obstacle avoidance in a local environment based on quasi-fuzzy logic are proposed. Conclusions. The proposed intelligent control algorithms allow reducing the cost of a logistics project based on autonomous robots and abandoning a number of expensive software. |
| format | Article |
| id | doaj-art-178ddff9726c4ee48d27c5ce136734a9 |
| institution | OA Journals |
| issn | 2307-5538 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | Penza State University Publishing House |
| record_format | Article |
| series | Измерение, мониторинг, управление, контроль |
| spelling | doaj-art-178ddff9726c4ee48d27c5ce136734a92025-08-20T02:37:10ZengPenza State University Publishing HouseИзмерение, мониторинг, управление, контроль2307-55382025-05-01210.21685/2307-5538-2025-2-7UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT V.R. Aleksandrov0N.V. Azarnov1A.A. Schetkin2A.P. Kushnir3R.M. Оgoreltcev4Research and Production Enterprise "Istok" named after A.I. Shokin, Fryazino, MIREA – Russian Technological University (Fryazino branch), FryazinoResearch and Production Enterprise "Istok" named after A.I. Shokin, FryazinoResearch and Production Enterprise "Istok" named after A.I. Shokin, FryazinoMIREA – Russian Technological University, MoscowMIREA – Russian Technological University, Moscow Background. In modern production, optimization of production processes is becoming increasingly important. This article discusses the principles of path construction by an autonomous mobile robot, including in an environment with static and dynamic obstacles. Materials and methods. The research is based on the interaction of MES/APS systems (Manufacturing Execution System/Advanced Planning and Scheduling) in combination with IIoT (Industrial Internet of Things) and mobile robots. Results. An algorithm of relay control with an artificial dead zone and an algorithm of obstacle avoidance in a local environment based on quasi-fuzzy logic are proposed. Conclusions. The proposed intelligent control algorithms allow reducing the cost of a logistics project based on autonomous robots and abandoning a number of expensive software. digital manufacturinginternet of thingsautonomous robotlogisticsnavigationdynamic obstacle avoidancefuzzy logicsimintechiiot.istokmesaps |
| spellingShingle | V.R. Aleksandrov N.V. Azarnov A.A. Schetkin A.P. Kushnir R.M. Оgoreltcev UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT Измерение, мониторинг, управление, контроль digital manufacturing internet of things autonomous robot logistics navigation dynamic obstacle avoidance fuzzy logic simintech iiot.istok mes aps |
| title | UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT |
| title_full | UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT |
| title_fullStr | UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT |
| title_full_unstemmed | UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT |
| title_short | UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT |
| title_sort | uasi precise control of an autonomous mobile robot |
| topic | digital manufacturing internet of things autonomous robot logistics navigation dynamic obstacle avoidance fuzzy logic simintech iiot.istok mes aps |
| work_keys_str_mv | AT vraleksandrov uasiprecisecontrolofanautonomousmobilerobot AT nvazarnov uasiprecisecontrolofanautonomousmobilerobot AT aaschetkin uasiprecisecontrolofanautonomousmobilerobot AT apkushnir uasiprecisecontrolofanautonomousmobilerobot AT rmogoreltcev uasiprecisecontrolofanautonomousmobilerobot |