METHODOLOGY AND PRACTICE OF INCREASING THE AUTONOMY OF GROUND-BASED ROBOTIC COMPLEXES

Trends in the development of modern robotics and the needs of practice require an increase in thedegree of autonomy of robotic complexes. Increasing the degree of autonomy, in turn, requires an increasein situational awareness and, as a result, an increase in the volume of data and the efficiency oftheir processing in real time on on-board resources. At the same time, the requirement of economic feasibilityof the proposed solutions remains. Taking into account the fact that in domestic practice, in mostcases, remote-controlled robots are used, it becomes necessary to increase their autonomy using existingtechnical solutions. This direction of development of robotic complexes is called the transition from remotecontrol to supervisory control. Along this path, an increasing number of information managementfunctions are transferred from the operator to the on-board information management system. Based on theanalysis of the world and our own experience in the development of robotic complexes, the author's methodologyfor creating robots with an increased degree of autonomy, we have identified a key element inensuring the intellectual autonomy of mobile devices. A unified software and hardware module for informationsupport of mobile robots is proposed. The module is based on a vision system with an open softwareand hardware architecture. This module allows increasing the degree of autonomy of ground-basedrobotic complexes in terms of intellectual autonomy gradually, while remaining within the framework ofeconomic feasibility. The open software architecture of the module takes into account the de facto varietyof hardware solutions in existing remote-controlled mobile vehicles and allows for an increase in the degreeof autonomy - to switch from remote control mode to supervisory control step by step, according tothe tasks being solved and the available means. A technique for creating new or reengineering existingRTK samples is proposed. The methodology includes an analysis of the overall layout of the RTK with anemphasis on the software and algorithmic part of the on-board information and control system. This takesinto account the conditions for matching the requirements for the sensor and computing parts. The paperconsiders examples of the application of this technique to the improvement of existing samples of groundbasedRTCs.. Practical tasks and examples of their solution using the proposed module are presented