METHODOLOGY AND PRACTICE OF INCREASING THE AUTONOMY OF GROUND-BASED ROBOTIC COMPLEXES
Abstract
Trends in the development of modern robotics and the needs of practice require an increase in the degree of autonomy of robotic complexes. Increasing the degree of autonomy, in turn, requires an increase in situational awareness and, as a result, an increase in the volume of data and the efficiency of their processing in real time on on-board resources. At the same time, the requirement of economic feasibility of the proposed solutions remains. Taking into account the fact that in domestic practice, in most cases, remote-controlled robots are used, it becomes necessary to increase their autonomy using existing technical solutions. This direction of development of robotic complexes is called the transition from remote control to supervisory control. Along this path, an increasing number of information management functions are transferred from the operator to the on-board information management system. Based on the analysis of the world and our own experience in the development of robotic complexes, the author's methodology for creating robots with an increased degree of autonomy, we have identified a key element in ensuring the intellectual autonomy of mobile devices. A unified software and hardware module for information support of mobile robots is proposed. The module is based on a vision system with an open software and hardware architecture. This module allows increasing the degree of autonomy of ground-based robotic complexes in terms of intellectual autonomy gradually, while remaining within the framework of economic feasibility. The open software architecture of the module takes into account the de facto variety of hardware solutions in existing remote-controlled mobile vehicles and allows for an increase in the degree of autonomy - to switch from remote control mode to supervisory control step by step, according to the tasks being solved and the available means. A technique for creating new or reengineering existing RTK samples is proposed. The methodology includes an analysis of the overall layout of the RTK with an emphasis on the software and algorithmic part of the on-board information and control system. This takes into account the conditions for matching the requirements for the sensor and computing parts. The paper considers examples of the application of this technique to the improvement of existing samples of groundbased RTCs.. Practical tasks and examples of their solution using the proposed module are presented
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