A method for planning the trajectory of a mobile robot in an unknown environment with obstacles

The known algorithms for planning the trajectory of movement mobile robots in an unknown environment have high computational complexity or do not allow finding that is optimal along length path, while maintaining a safe distance from obstacles. aim work to increase efficiency solving problem initial position final with obstacles, taking into account limited capabilities (sensory and computational) robots. solution this was carried out on basis step-by-step optimization current robot relative given target. proposed method analyzes possibility moving directions determined by means analytical geometry based measurements on-board sensors. An element scientific novelty procedure calculating segments choice intermediate state correcting sensors robot. makes it possible search ensuring use presented algorithm allows maintain task functioning conditions information deficiency. reliability results confirmed course software simulation. problem, these features, made reduce method, as well remove restrictions low-performance computing devices. implemented form Python programming language, which can be used simulate autonomous control systems