INFORMATION TECHNOLOGY OF OPTIMUM ROUTE CONSTRUCTION OF MOBILE ROBOT’S MOTION

T.S. Mitsai

An algorithm for optimal route planning in a general setting is studied . The route is constructed as an iterative process of solutions’ improvement , and at the first stage to determine the route, the wave algorithm with computational complexity which is proportional to the number of nodes of the graphs is used . At the next stages of the algorithm one can see the refinement of the route through the consistent implementation of spatial filtering of the matrix of accumulated costs and matrix of directions. The algorithm completes its work with the help of the stabilization of the accumulated costs for the nodes of the graph. Performance of algorithms depends on the required accuracy for a route planning.

Key words: map of the area, trajectory planning, the optimal movement, the wave algorithm, weighted graph, accrued expenses, the filtering algorithm.