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В данной работе изложена суть нескольких классов методов планирования движения колёсных роботов и манипуляторов. Изучены различные подходы к построению оптимального траектории и выбору управления. Произведён сравнительный анализ различных алгоритмов на примере системы дифференциального привода. Решена задача о построение оптимальной траектории при наличии препятствия в рабочем пространстве в условиях кинематической постановки.
In this work, the essence of several classes of methods for planning the movement of wheeled robots and manipulators is described. Various approaches to the construction of an optimal trajectory and the choice of control have been studied. A comparative analysis of various algorithms is made using the example of a differential drive system. The problem of constructing the optimal trajectory in the presence of an obstacle in the working space in the conditions of kinematic setting is solved.
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