Production Workspace Obstacle Avoidance Mobile Robot Trajectory Modeling


  • Igor Nevludov Kharkiv National University of Radio Electronics, Ukraine
  • Sergiy Novoselov Kharkiv National University of Radio Electronics, Ukraine
  • Oksana Sychova Kharkiv National University of Radio Electronics, Ukraine
  • Serhii Tesliuk Kharkiv National University of Radio Electronics, Ukraine



mobile robot, navigation system, optimal way, model, program, C#


The paper describes a method for determining the trajectory of a mobile robot inside a production workspace among obstacles. To determine the path of movement, a navigation system is used, which determines the robot's own coordinates, plans the trajectory at the current time and controls its movement. A software tool for modeling the behavior of a mobile robot taking into account the properties of its mechatronic platform is proposed. The model of the adaptive control system of the mobile platform is described. The block diagram of the program for modeling the method of finding the optimal way to move a mobile platform among uncertain obstacles is considered. The simulation results are given.


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