MODIFIED METHOD OF A PATH PLANNING ON A LOCAL MAPS FOR TRANSPORT AND AEROSPACE ROBOTS

Titenko Evgeny Anatolyievich; Emelyanov Sergey Gennadyevich; Dobroserdov Oleg Guryevich; Borzov Dmitry Borisovich; Frolov Sergey Nikolaevich; Lisitsin Leonid Alexsandrovicn; Bredikhina Natalia Vladimirovna; Sazonov Sergey Yuryevich

doi:10.5937/jaes17-23621

Titenko Evgeny Anatolyievich Southwest State University, Kursk
Emelyanov Sergey Gennadyevich Southwest State University, Kursk
Dobroserdov Oleg Guryevich Southwest State University, Kursk
Borzov Dmitry Borisovich Southwest State University, Kursk
Frolov Sergey Nikolaevich Southwest State University, Kursk
Lisitsin Leonid Alexsandrovicn Southwest State University, Kursk
Bredikhina Natalia Vladimirovna Southwest State University, Kursk
Sazonov Sergey Yuryevich Southwest State University, Kursk

DOI: https://doi.org/10.5937/jaes17-23621

Keywords: robotics, planning, Path, modification, maps, Aerospace, additives,

Abstract

In this paper we consider the modification of the method of planning the A-star path for transport and aerospace robots. It is necessary to take into account obstacles in the local neighborhood of aerospace robot, but not sufficient for the rational path planning. The essence of the modification is to use additional information about the features of original cell array. This additional information is represented by binary flags. They represent obstacle-free rows and matrix columns. The modification allows you to build paths that include straight sections of free cells. The main feature of this method is the use of bitwise logical operations on cell values.

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