FIELD: robotics.
SUBSTANCE: invention relates to a method of constructing an optimal trajectory of service robots in a dynamic environment. In the process of following a given route, input data are obtained and processed, and input information is validated. Modes of movement and switching between them are used based on information on occupied operational space and current configuration of service robot. Modes include: “Route passing mode”, “Route recovery mode” or “Pedestrian following mode”.
EFFECT: modes allow minimizing deviations from a given route and providing stability of movement in a non-deterministic environment due to combination of algorithms of search and post-processing of trajectories and formation of resultant local trajectory.
1 cl, 7 dwg
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