METHOD OF CONTROLLING MOVABLE OBJECT AND APPARATUS FOR REALISING SAID METHOD Russian patent published in 2012 - IPC G05B19/19 B25J13/08 

FIELD: information technology.

SUBSTANCE: method is based on forming the required motion path of the controlled object, measuring its coordinates and their derivatives, using these measurements to form several matrices which are entered into the equation for controlling movement of the object, which ensures stability of the required path in the region of movement free of obstacles and its instability in a predetermined zone with obstacles. The apparatus has a path planner, computers, matrix transposition units, an information sensor unit, a sensor support unit, a linear element vector generating unit, a control coefficient matrix generating unit, a vector derivative-external velocity column matrix generating unit, an external velocity vector generating unit, a threshold device, an electronic switch and a matrix determination sign inverter. Use of operations for measuring distance to the nearest obstacle on the route of the control object and using this measurement result to change the fixed sign property of constant coefficient matrices enables the disclosed method and apparatus to provide movement of mobile objects in environment uncertainty conditions.

EFFECT: broader functional capabilities.

6 cl, 5 dwg