UASI-PRECISE CONTROL OF AN AUTONOMOUS MOBILE ROBOT 

Vitaly R. Aleksandrov, Director of digital transformation, Research and Production Enterprise "Istok" named after A.I. Shokin (2а Vokzalnaya street, Fryazino, Moscow region, Russia); lecturer, MIREA – Russian Technological University (Fryazino branch) (2а Vokzalnaya street, Fryazino, Moscow region, Russia), vraleksandrov@istokmw.ru
Nikita V. Azarnov, Engineer, Research and Production Enterprise "Istok" named after A.I. Shokin (2а Vokzalnaya street, Fryazino, Moscow region, Russia), nvazarnov@istokmw.ru
Aleksey A. Shchetkin, Head of the department of automated control systems, Research and Production Enterprise "Istok" named after A.I. Shokin (2а Vokzalnaya street, Fryazino, Moscow region, Russia); lecturer, MIREA – Russian Technological University (Fryazino branch) (2а Vokzalnaya street, Fryazino, Moscow region, Russia), aaschetkin@istokmw.ru
Aleksandr P. Kushnir, Candidate of technical sciences, associate professor of the sub-department of industrial informatics, Institute of Information Technologies, MIREA – Russian Technological University (78 Vernadskogo avenue, Moscow, Russia), 89169521579@ya.ru
Roman M. Оgoreltcev, Postgraduate student, MIREA – Russian Technological University (78 Vernadskogo avenue, Moscow, Russia), roman-ogoreltcev@yandex.ru

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.

digital manufacturing, Internet of Things, autonomous robot, logistics, navigation, dynamic obstacle avoidance, fuzzy logic, SimInTech, IIoT.Istok, MES, APS

Aleksandrov V.R., Azarnov N.V., Schetkin A.A., Kushnir A.P., Оgoreltcev R.M. Uasi-precise control of an autonomous mobile robot. Izmerenie. Monitoring. Upravlenie. Kontrol' = Measuring. Monitoring. Management. Control. 2025;(2):57–67. (In Russ.). doi: 10.21685/2307-5538-2025-2-7