Planning the movement of moving mobile robots in a changing environment

The article discusses the methods used by the robot engine pathway planning, clairvoyancegraph method and possible road mapping. Potential features include the potential effects of two potential forces. These forces are: the force of gravity and the force of the barrier to push. The circular-graph method has been studied in the form of circles representing problematic environments with flexible logic and the corresponding graphs in the course of the rotation of known barriers. Compared to classical potential functions and clairvoyance methods, the method of the Modern Probable Roadmap (PRM-Probabilistic Road Map) examines its advantages and benefits. At the start of the planning phase, a roadmap is created using repetitive algorithms of random configurations and free, ie non-intrusive barriers, configurations are selected as the "nodes" of the road map. In advanced production systems, IR performs auxiliary and basic functions relative to the technological process. Changes in the complexity of complex IR operations in these systems make it difficult to calculate dynamic coefficients. Last but not the least, compared to classical potential functions and clairvoyance methods, the method of the Modern Probable Roadmap (PRM-Probabilistic Road Map) examines its advantages and benefits