METHOD FOR PLANNING ROBOT MOVEMENT AND MOBILE ROBOT Russian patent published in 2021 - IPC B25J9/00 B25J9/16 G05D1/02 G05B19/04 

FIELD: robotic technology.

SUBSTANCE: mobile robot contains a chassis with a driving wheel, safety sensors and a control system. The method of planning the robot movement includes discretization of the robot state space and setting a finite set of elementary trajectories in the robot local coordinate system. For each elementary trajectory, a safety zone is set based on the visibility zone of the safety sensors at the given angle of rotation and speed of movement, the base contour and the contour of the elementary trajectory are set, combining the base contours placed in each intermediate state of the elementary trajectory. Next, an oriented weighted multigraph without loops is built, the vertices of which correspond to the robot discrete states, the arcs correspond to the elementary trajectories, and the arc weight corresponds to the time of the robot movement along the elementary trajectory, and the sequence of elementary trajectories is determined for the robot movement to the target state by searching for the path with the smallest sum of weights in the multigraph.

EFFECT: optimization of planning the non-holonomic robot movement within a given area of permissible movement is achieved, as well as increasing the movement smoothness and reducing the time of the robot movement along the route.

8 cl, 11 dwg