UDK 681.5 Автоматика. Теория, методы расчета и аппаратура систем автоматического управления и регулирования. Техническая кибернетика. Техника автоматизации
In modern conditions, when automation is becoming universal, there are many different names and manufacturers of automated control systems on the market. These systems include various devices such as communication facilities, multifunctional signal input/output boards, a variety of controllers, intelligent and non-intelligent sensors, actuators, single-board computers for industrial use and other devices. There are many companies and names in this field offering their products and solutions. Companies such as Siemens, Schneider Electric, ABB, Rockwell Automation, Honeywell and many others. The automated control system of the mobile robot allows for manual and automatic control under the direct supervision of a qualified employee. The main idea in the development of an automatic control system for mobile robots is that the robot moves through the warehouse premises of the enterprise without human intervention, transporting loads of different sizes and choosing the optimal trajectory of movement. The main advantage of mobile robotic platforms is their versatility. Mobile platforms can be used to perform a variety of tasks, such as transporting goods in a confined space or mapping an area. Depending on the characteristics of each mobile platform, you can create control systems to perform a specific task.
Automated control system, robot, modeling, algorithm, controller
1. Devyatov, D.A. Zamena rabochego sborschika promyshlennym robotom, vybor robota dlya izdeliya, sostavleniya marshruta sborki setyami Petri / D.A. Devyatov, V.O. Yakovlev // Studencheskiy. - 2022. - № 42, 2 (212). - S. 51-54.
2. Kuznecov, K.D. Avtomatizirovannye roboty dlya skladskih rabot / K.D. Kuznecov, A.A. Mescheryakova // Sovremennye voprosy avtomatizacii i sistem upravleniya v tehnicheskih, organizacionnyh i ekonomicheskih sistemah : sbornik materialov Nacional'noy nauchno-prakticheskoy konferencii studentov i molodyh uchenyh. - Voronezh, 2023. - S. 129-133.
3. Lin, M.C. Efficient Collision Detection for Animation and Robotics / M.C. Lin. - Berkeley Department of Electrical Engineering and Computer Science, University of California, 1993. - 159 p.
4. Ericson, C. Real-time Collision Detection. The Morgan Kaufmann Series in Interactive 3-D Technology / C. Ericson. - CRC Press, - 2004. - 632 p.
5. Andersen, K.A. A survey of algorithms for construction of optimal Heterogeneous Bounding Volume Hierarchies : Technical Report / K.A. Andersen, C. Bay. - Copenhague, Denmark: Department of Computer Science, University of Copenhagen, 2006, - 32 p.
6. Zolotov, V.A. Sovremennye metody poiska i indeksacii mnogomernyh dannyh v prilozheniyah modelirovaniya bol'shih dinamicheskih scen / V.A. Zolotov, V.A. Semenov // Trudy ISP RAN. -- T. 25, № 13. - S. 381-416. - DOI:https://doi.org/10.15514/ISPRAS-2013-24-17.
7. Zolotov, V.A. Perspektivnye shemy prostranstvenno-vremennoy indeksacii dlya vizual'nogo modelirovaniya masshtabnyh industrial'nyh proektov / V.A. Zolotov, V.A. Semenov //. Trudy ISP RAN. - 2014. - T. 26, № 2. - S. 197-230. - DOI:https://doi.org/10.15514/ISPRAS-2014-26(2)-9.
8. Zolotov, V.A. Issledovanie metodov prostranstvennogo indeksirovaniya dinamicheskih scen na osnove regulyarnyh oktoderev'ev / V.A. Zolotov, K.S. Petrischev, V.A. Semenov // GraphiCon : sbornik trudov 25-y mezhdunarodnoy konferencii. - M., 2015. - S. 115-122.
9. Pungotra, H. Collision Detection and Merging of Deformable B-spline Surfaces in Virtual Reality Environment / H. Pungotra. - Canada, The Univeristy of Western Ontario, 2010. - 180 p.
10. Sandqvist, J. Collision detection using boundary representation, BREP / J. Sandqvist. - Sweden, Umeå University, 2015. - 54 p.
11. Su, C.J. New collision detection method for CSG-represented objects in virtual manufacturing / C.J. Su, F. Lin, L. Ye // Computers in Industry. - 1999. - Vol. 40, № 1. - Pp. 1-13.
12. Klein, J. Point cloud collision detection / J. Klein, G. Zachmann // Proc. Eurographics. - 2004. - Pp. 567-576.
13. Zotov, M.M. Peredovye resheniya v oblasti skladskih avtonomnyh robototehnicheskih sistem / M.M. Zotov, A.A. Zhilenkov // Oboronnyy kompleks - nauchno-tehnicheskomu progressu Rossii. - 2023. - № 1 (157). - S. 46-52.
14. Vereschagina, S.A. Promyshlennye roboty. Robot FANUC modeli R2000IB / S.A. Vereschagina // Molodezhnaya nauka v razvitii regionov. - 2020. - T. 1. - S. 236-238.
15. Bobyr', M.V. Sposob ochuvstvleniya mobil'nogo robota s ispol'zovaniem sistemy stereozreniya dlya upravleniya mobil'nym robotom / M.V. Bobyr', S.A. Kulabuhov, A.E. Arhipov // Optiko-elektronnye pribory i ustroystva v sistemah raspoznavaniya obrazov, obrabotki izobrazheniy i simvol'noy informacii. Raspoznavanie - 2018 : sbornik materialov XIV mezhdunarodnoy nauchno-tehnicheskoy konferencii. - Kursk, 2018. - S. 61-64.
16. Upravlenie mashinami i robotami: sozdanie baz znaniy dlya mivarnyh sistem prinyatiya resheniy robotov i avtomobiley / D.V. Aladin [i dr.] // XXXI Mezhdunarodnaya innovacionnaya konferenciya molodyh uchenyh i studentov po problemam mashinovedeniya (MIKMUS - 2019) : sbornik trudov konferencii. - M., 2020. - S. 720-723.
17. Cyuy, D. Razrabotka upravleniya mobil'nym robotom na osnove kolesnogo robota P3-DX / D. Cyuy // Tehnika i tehnologiya. - 2008. - № 1. - S. 8-10.
18. Ross, G.V. Model' intellektual'nogo planirovaniya povedeniya robota v kollektive robotov / G.V. Ross, V.A. Konyavskiy, V.V. Medvedev // Prikladnaya informatika. - 2023. - T. 18, № 1 (103). - S. 65-81.
19. Chadeev, V.M. Ierarhicheskaya model' tehnologicheskogo processa izgotovleniya robotov s ispol'zovaniem robotov / V.M. Chadeev, N.I. Aristova // Upravlenie v tehnicheskih, ergaticheskih, organizacionnyh i setevyh sistemah : sbornik materialov konferencii. - SPb., 2012. - S. 618-621.
20. Arhipov, M.V. Promyshlennye roboty: upravlenie manipulyacionnymi robotami : uchebnoe posobie / M.V. Arhipov, M.V. Vartanov, R.S. Mischenko. - M., 2020. - 234 s.
21. Ilyuhin, Yu.V. Lokalizaciya, kartografirovanie i upravlenie mobil'nymi robotami pri ih vzaimodeystvii v sostave gruppy «nazemnyy robot - BPLA» / Yu.V. Ilyuhin, I.E. Deynekin // Mehatronika, avtomatika i robototehnika. - 2023. - № 11. - S. 79-83.
22. Glazunov, V.A. Roboty parallel'noy struktury - al'ternativa antropomorfnym robotam / V.A. Glazunov, S.V. Heylo // Estestvennyy i iskusstvennyy intellekt. metodologicheskie i social'nye problemy : sbornik nauchnyh trudov. - M., 2011. - S. 201-210.
23. Mokrushina, L.N. Avtomatnyy podhod dlya upravleniya mobil'nym robotom / L.N. Mokrushina, D.M. Korobeynikov // XI itogovaya studencheskaya nauchnaya konferenciya Udmurtskogo gosudarstvennogo universiteta : sbornik materialOv vserossiyskoy konferencii. - Izhevsk, 2023. - S. 27-29.
24. Freyre, K.F.R. Issledovanie dinamiki upravlyaemogo dvizheniya mobil'nogo kolesnogo robota po zadannoy traektorii : special'nost' 01.02.06 - Dinamika, prochnost' mashin, priborov i apparatury : avtoref. dis. … kand. tehn. nauk / Freyre Karrera Fausto Rodrigo. - Kursk, 2007. - 39 s.
25. Algoritmy intellektual'nogo upravleniya rekonfiguriruemymi robotami v komponovke kolesa i mnogoagentnymi sistemami na ih osnove / S.V. Man'ko, V.M. Lohin, N.V. Kraynov, A.N. Mal'ko // Mehatronika, avtomatizaciya, upravlenie. - 2022. - T. 23, № 8. - S. 420-429.
26. Aristov, I.S. Koordinaciya raboty avtonomnyh transportnyh robotov / I.S. Aristov, A.V. Artamonov // Vestnik nauchnyh konferenciy. - 2017. - № 4-5 (20). - S. 16-17.
27. Belokopytov, M.D. Collaborative robots / M.D. Belokopytov, S.A. Avdeyko // Proceedings of Young Scientists and Specialists of Samara University. - 2022. - № 2 (21). - S. 160-164.
28. Andrahanov, S.V. Algoritmizaciya processa modelirovaniya dlya resheniya zadach optimizacii upravleniya mehatronno-modul'nymi robotami / S.V. Andrahanov // Informacionnye tehnologii modelirovaniya i upravleniya. - 2013. - № 5 (83). - S. 474-480.
29. Litvinov, Yu.V. Primenenie DSM-platformy QREAL pri razrabotke sredy programmirovaniya robotov QREAL: ROBOTS / Yu.V. Litvinov // Sistemnoe programmirovanie. - 2012. - T. 7, № 1. - S. 161-186.
30. Shmakov, O.A. Zmeevidnyy robot dlya peremescheniya v ogranichennyh prostranstvah / O.A. Shmakov // Ekstremal'naya robototehnika. - 2024. - № 1 (34). - S. 92-98.
31. Krylov, M.I. Sozdanie mobil'nogo robota s golosovym upravleniem / M.I. Krylov, V.D. Filimonova // ENERGIYa-2016 : sbornik materialov konferencii. - Ivanovo, 2016. - S. 83-85.
32. Meshkovskiy, E.O. Postroenie matematicheskoy modeli chetyrehkolesnogo mobil'nogo robota s dvumya differencial'nymi privodnymi blokami / E.O. Meshkovskiy, A.D. Kurmashev // Innovacii i investicii. - 2020. - № 2. - S. 113-118.
33. Obnaruzheniya ob'ektov na osnove glubokih neyronnyh setey v zadache navigacii avtonomnogo mobil'nogo robota / M.T. Nayng [i dr.] // Sovremennaya nauka: aktual'nye problemy teorii i praktiki. Seriya: Estestvennye i tehnicheskie nauki. - 2021. - № 4. - S. 128-134.
34. Tiverovskiy, V.I. Roboty, robotizaciya, novye sistemy i tehnologii v zarubezhnoy skladskoy logistike / V.I. Tiverovskiy // Transport: nauka, tehnika, upravlenie. Nauchnyy informacionnyy sbornik. - 2021. - № 10. - S. 36-40.
35. Kazakov, K.A. Obzor sovremennyh metodov planirovaniya dvizheniya / K.A. Kazakov, V.A. Semenov // Trudy ISP RAN. - 2016. - T. 28, № 4. - S. 241-294.
36. Os'kina, T.A. Skladskoe oborudovanie i tehnologii dlya optimizacii pogruzochno-razgruzochnyh rabot na skladah dlitel'nogo hraneniya produkcii / T.A. Os'kina // Innovacionnye tehnologii proizvodstva i hraneniya material'nyh cennostey dlya gosudarstvennyh nuzhd. - 2022. - № 17. - S. 179-187.
37. Robotizaciya i avtomatizaciya pogruzochno-razgruzochnyh rabot / T.E. Mel'nikova, S.E. Mel'nikov, I.A. Asmanov, E.Yu. Faddeeva // Transport: nauka, tehnika, upravlenie. Nauchnyy informacionnyy sbornik. - 2021. - № 7. - S. 65-67.
38. Kotel'nikov, A.A. Sensornoe obespechenie roboty robota pri dugovoy svarke / A.A. Kotel'nikov, V.A. Kryukov, S.V. Dmitriev // Svarochnoe proizvodstvo. - 1999. - № 12. - S. 44-46.
39. Staroverova, O.V. Nekotorye osobennosti primeneniya robotizirovannyh tehnologiy v skladskoy logistike / O.V. Staroverova, A.A. Andreeva // Zhurnal issledovaniy po upravleniyu. - 2022. - T. 8, № 3. - S. 39-49.
40. Grechushkin, I.V. Primenenie nazemnyh robototehnicheskih kompleksov dlya provedeniya pogruzochno-razgruzochnyh i transportno-skladskih rabot / I.V. Grechushkin, V.I. Savin // Nauchnye problemy material'no-tehnicheskogo obespecheniya Vooruzhennyh Sil Rossiyskoy Federacii. - 2019. - № 3 (13). - S. 103-116.
41. Yagfarov, R.R. Razrabotka moduley vzaimodeystviya robota i cheloveka, interaktivnogo upravleniya, lokalizacii i kartografirovaniya dlya antropomorfnogo robota AR-601 / R.R. Yagfarov, A.S. Klimchik // Progress transportnyh sredstv i sistem - 2018 : sbornik materialov mezhdunarodnoy nauchno-prakticheskoy konferencii. - Volgograd, 2018. - S. 138-140.