DOI:https://doi.org/10.15407/kvt208.03.033
Cybernetics and Computer Engineering, 2022, 3(209)
GRITCENKO V.I., Corresponding Member of the NAS of Ukraine,
Directorate Advisor
https://orcid.org/0000-0002-6250-3987
e-mail: vig@irtc.org.ua
SUKHORUCHKINA O.N., Senior Researcher,
System Information Technologies Department,
https://orcid.org//0000-0002-7441-6661
e-mail: sukhoru@irtc.org.ua
International Research and Training Center for Information Technologies
and Systems of the National Academy of Sciences of Ukraine
and Ministry of Education and Science of Ukraine.
40, Akad. Glushkov av., Kyiv, 03187, Ukraine
FROM COMMAND CONTROL TO THE AUTONOMY OF MOBILE ROBOTS
Introduction.The urgent needs of the modern technological order and the development of intelligent information technologies, covering a wide range of scientific areas, have led to the emergence of new principles for the organization of robot control systems. The main goal of modern robotics is to minimize direct human involvement in the control loop when the robot performs tasks in a weakly deterministic non-stationary environment. Historically, robotics for such operating conditions has progressed from remote command control to autonomous systems with the possibility of supervision by human. The influence of intelligent control on increasing the degree of autonomy of service mobile robots is considered. The important subsystems in the organization of intelligent control systems for autonomous mobile robots and the objective difficulties of their practical implementation are shown.
The purpose of the paper is to discuss the influence of intelligent control on the level of autonomous capabilities of robots in dynamic and incompletely defined conditions and the objective difficulties of creating universal approaches to the implementation of autonomous service robots control systems.
Results. The ways of increasing the autonomous capabilities of mobile robots are considered. The role of the supervisory control principle on the way to reducing human participation in the processes of remote control of service robots is given.
Conclusions. The use of the proposed structural solutions of the service mobile robot intelligent control system and the methodology for organizing its activating subsystem made it possible to significantly increase the autonomous resources of the robot when performing complex tasks in a weakly deterministic nonstationary environment.
Keywords:autonomous mobile robot, intelligent control system, supervisory control
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Received 06.06.2022
HOW TO CITE:
Gritcenko V.I., Sukhoruchkina O.N. From Command Control to the Autonomy of Mobile Robots. Cybernetics and Computer Engineering, 2022, no 3(209), pp. 33-45.
https://doi.org/10.15407/kvt208.03.033