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| Analysis of Existing Infliences in Formation of Mobile Robots Trajectory
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Svitlana Sotnik, Vyacheslav Lyashenko
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Abstract:
The work considers and analyzes three main ways of forming trajectory of movement: coordinate trajectory and vector. The choice of description method depends on conditions of specific problem. The specificity of different type's movement of robots is analyzed: wheeled, tracked and walking. One of features in formation of movement trajectory in space with dynamic obstacles is speed. Thus, analysis of impacts is especially important for those robots that are able to achieve significant speeds and accelerations, as well as for robots characterized by large load capacity, while dynamic effects are associated with significant masses in structural elements. Today, there is no unified universal approach to constructing trajectories in environment with obstacles. The analysis showed that formation of rational trajectory taking into account: length and smoothness of trajectory; nature of workspace and map of area; safety - distance to obstacles; type of mobile platform (method of moving robot) will ensure correctness and conflict-free trajectory.
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