TRAJECTORY PLANNING OF MOBILE ROBOT MOVEMENT IN UNKNOWN ENVIRONMENT

The application of mobile robots is becoming more and more common in order to perform various tasks under conditions where the presence of the human in their site is impossible on safety grounds or unacceptable due to the reduction of the productivity of the technological equipment served by them. The objective of robot movement planning is to guarantee the desirable robot movement path as it moves across the planned path on the basis of controlling impacts, i.e. sensors. Numerous investigations were carried out under unknown environment conditions, which were intended for addressing the problem of robot movement without colliding with obstacles in its path by employing various navigation methods. The purpose of this paper is to analyse navigation methods employed for addressing the problem of robot movement without colliding with obstacles in its path under unknown environment conditions. The paper analyses the multi-agent system framework, generalized agent control system framework, local path planning algorithm for robots in an unknown two-dimensional space and other related questions in order to reach the above-mentioned purpose.