Application of GMDH algorithms in the obstacle recognition problem for autonomous mobile robots

摘要

The basic principles of designing the control system for autonomous mobile robots (AMRs) on the basis of the inductive approach are considered. The key problem in the autonomous motion control is the recognition of obstacles. A close relationship of the obstacle recognition problem with other control problems for AMRs is demonstrated. A generalized structure, a scheme for processing information about objects as applied to the obstacle recognition problem, and an inductive algorithm for finding the control law are proposed.