Sergienko O. Development of the theory and improvement of autonomous navigation systems of mobile terrestrial robots in non-deterministic environments

Object – process of mobile terrestrial robot navigation in an autonomous mode of motion. Aim – development of the theory and improvement of autonomous navigation systems of mobile terrestrial robots in non-deterministic environments. Subject – mathematical models and methods to ensure autonomous navigation systems of mobile terrestrial robots in non-deterministic environments. Methods – theory of radiotechnical and television systems, wireless control theory, measurement theory, methods of mathematical statistics and probability theory, methods of numerical analysis, computer modelling. Results – development of the theory of autonomous navigation and control of mobile terrestrial robots in non-deterministic environments based on the integrated use in a single matrix of the robot state the information about the environment of the robot; a new method of laser sounding of the environment of the robot - method of dynamic triangulation, which is noted among other known methods for the possibility of scanning in the bulk sector and the possibility of mapping the surface of the obstacle; a new method of signals and time intervals frequency measurement – a method of rational approximation by mediants; it has been shown for the first time that the proposed new method of signals and time intervals frequency measurement is invariant to the jitter and the instability of the pulse width in pulse sequences. Implementation – at “Instrument-Making Research Technological Institute” enterprise, at Academy of Interior Troops of the Ministry of Internal Affairs of Ukraine, in academic activities at Kharkiv National University of Radio Electronics. Application – mobile robots for territory patrolling and work in contaminated areas