Dynamic Formation of Robot Movement Route in Nondeterministic Environment with Bypassing Stationary and Nonstationary Obstacles

PATTERN RECOGNITION AND IMAGE ANALYSIS. ADVANCES IN MATHEMATICAL THEORY AND APPLICATIONS. 2024. Vol. 34. No. 3. P. 543–548.

Lebedev O. B., Beskhmelnov M. I.

Translator: Lebedev O. B.

Editor of translation: Lebedev O. B.

The work describes a hybrid algorithm for the dynamic formation of a robot’s movement route in nondeterministic environments with bypassing stationary and nonstationary obstacles for two-dimensional space, based on the integration of wave and ant algorithms, which makes it possible to build trajectories of minimum length in real time with simultaneous optimization of a number of criteria for the quality of the constructed path. Restrictions preventing the construction of a trajectory from the current position are iden-tified during the construction process. The trajectory is constructed step by step. The entire trajectory con-necting the robot’s initial position with the target position is a collection of individual sections. The time complexity of the algorithm depends on the lifespan of the colony, l, (number of iterations); the number of graph vertices, n; the number of ants, m; and is estimated as O(l · n2 · m).

Keywords: алгоритм, algorithm, multi-agent systems, планирование траектории, гибридизация, мульти-агентные системы, Trajectory planning, PARTIAL UNCERTAINTY, частичная неопределенность, hybridization