Motion Control of Smart Autonomous Mobile System Based on the Perception Model

Modern systems, such as cooperative robotics, mobile computing systems, transportation systems, have to operate in highly dynamic and volatile environments. Smart and autonomous behavior becomes indispensable characteristics of such systems. The article deals with the task of managing movements along a given route with obstacles by a Smart Autonomous Machine (SAM). The possibilities of control are shown on the basis of a new perception model, supporting the such cognitive functions as calculating the meaning of the space-temporal data segment from sensors, tracking the context and switching attention. The knowledge bases are given in the form of rules with linguistic variables used in the perception model for situational motion control of the SAM. Protocols of computer experiments with a simulation of the perception model are given and discussed, allowing to check its adequacy and effectiveness. A description of field experiments with a mobile wheeled robot is given. The experiments were conducted in an artificially created space, including a set of distributed landmarks, which are used as route markers. The scenarios for different routes and possible obstacles are analyzed.