METHOD FOR BUILDING A ROUTE AND CONTROLLING THE MOVEMENT OF A MOBILE SERVICE ROBOT IN RETAIL PREMISES Russian patent published in 2022 - IPC B25J13/08 B25J9/16 G05D1/02 

FIELD: robotics.

SUBSTANCE: invention relates to the field of robotics and can be used for controlling the movement of a mobile service robot performing process functions at commercial facilities, preventing collisions thereof with obstacles. The method includes defining a route from the route formation module, obtaining a "potential collision" indicator from the collision prevention module, establishing the starting and target points of movement of the robot, and preliminarily indicating the location of obstacles in the map. When an obstacle is detected by sensors in the information processing module, a two-dimensional point cloud of the obstacle is formed and transmitted together with the data on the dimensions of the contour of the platform of the robot to the information processing module, then to the collision prevention module, and then to the movement control module, wherein the linear and angular velocities of the robot are set and transmitted to the module of the electric engine control driver and to the controllers of the electric engines of the wheels.

EFFECT: use of the invention allows for an increase in the accuracy of movement of the robot along a preset trajectory in conditions of a dynamic environment.

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