UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT

Background. In modern production, optimization of production processes is becoming increasingly important. This article discusses the principles of path construction by an autonomous mobile robot, including in an environment with static and dynamic obstacles. Materials and methods. The research is based on the interaction of MES/APS systems (Manufacturing Execution System/Advanced Planning and Scheduling) in combination with IIoT (Industrial Internet of Things) and mobile robots. Results. An algorithm of relay control with an artificial dead zone and an algorithm of obstacle avoidance in a local environment based on quasi-fuzzy logic are proposed. Conclusions. The proposed intelligent control algorithms allow reducing the cost of a logistics project based on autonomous robots and abandoning a number of expensive software.