METHOD OF TRAJECTORY CONTROL OF MOVEMENT OF MOBILE SERVICE ROBOT Russian patent published in 2024 - IPC G05D1/00 G05B19/00 G05B13/00 

FIELD: robotics.

SUBSTANCE: according to the robot motion trajectory control method, external data coming from the components, as well as from the robot sensors and sensors, are simultaneously supplied to the software module for working with dynamic objects, to the motion control software module and to the robot dimensions calculation module and the predicted motion path formation. In the software module for working with dynamic objects, possible intersection of the local trajectory with dynamic objects is checked. In the program module for controlling movement of calculating control commands, control commands are calculated. Control commands for the robot are calculated based on the adjustment error and the formed arc curvature. To take into account the robot dimensions, control commands from the motion control program module are sent to the program module for calculating the robot dimensions and forming a set of predicted motion paths. Control commands are sent to chassis of mobile service robot.

EFFECT: high safety of movement of a mobile robot along a given trajectory in a dynamic environment by tracking the dimensions of the robot and predicting its trajectory.

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