title: ÐÐ»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¿Ð¾Ð¸ÑÐºÐ° Ð¸ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸ Ð´Ð»Ñ Ð·Ð°Ð´Ð°Ñ Ð³ÑÑÐ¿Ð¿Ð¾Ð²Ð¾Ð¹ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÐºÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Search and planning algorithms for the tasks of group robotics
Creators: name: ÐÐ¾ÐºÑÐ¾ÑÑÐ¾Ð², ÐÐ¼Ð¸ÑÑÐ¸Ð¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: Ð¿Ð¾Ð¸ÑÐº Ð¿ÑÑÐ¸
ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ
Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼
ÐºÐ¾Ð¼Ð°Ð½Ð´Ð½Ð¾Ðµ Ð²Ð·Ð°Ð¸Ð¼Ð¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ
path finding
robotic systems
algorithm
team interaction

description: ÐÐ°Ð½Ð½Ð°Ñ Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÑ ÑÐµÑÐµÐ½Ð¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸ Ð½Ð° Ð¿ÑÐ¸Ð¼ÐµÑÐµ Ð¼ÐµÐ¶Ð´ÑÐ½Ð°ÑÐ¾Ð´Ð½ÑÑ ÑÐ¾ÑÐµÐ²Ð½Ð¾Ð²Ð°Ð½Ð¸Ð¹ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Â«ÑÑÑÐ±Ð¾Ð» WROÂ». Ð ÑÐ°Ð±Ð¾ÑÐµ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÑÑ Ð¾Ð±Ð·Ð¾Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð¿Ð¾Ð¸ÑÐºÐ° Ð¿ÑÑÐ¸, ÑÐ¾Ð²ÑÐµÐ¼ÐµÐ½Ð½ÑÑ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½ÑÐ¾Ð² Ð´Ð»Ñ ÑÐ±Ð¾ÑÐºÐ¸ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ, Ð´Ð»Ñ ÐºÐ¾ÑÐ¾ÑÑÑ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÑÑ ÐºÐ°ÑÐµÑÑÐ²ÐµÐ½Ð½ÑÐ¹ Ð°Ð½Ð°Ð»Ð¸Ð·. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÑÑ Ð²ÑÐ±Ð¾Ñ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿Ð¾Ð´ÑÐ¾Ð´ÑÑÐµÐ³Ð¾ ÑÑÐµÐºÐ° ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¹ Ð´Ð»Ñ ÑÐµÐºÑÑÐ¸Ñ ÑÐµÐ»ÐµÐ¹. Ð ÑÐ°Ð±Ð¾ÑÐµ Ð¿Ð¾ÐºÐ°Ð·ÑÐ²Ð°ÑÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¸ ÑÐµÐºÐ¾Ð¼ÐµÐ½Ð´Ð°ÑÐ¸Ð¸ Ð¿Ð¾ ÑÐ±Ð¾ÑÐºÐµ Ð¼Ð¾Ð´ÐµÐ»Ð¸, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÑÑ Ð´Ð»Ñ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ°, ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ ÐºÐ¾Ð´Ð° Ð¸ ÐµÐ³Ð¾ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. ÐÐµÐ¼Ð¾Ð½ÑÑÑÐ¸ÑÑÑÑÑÑ Ð¿Ð¾Ð´ÑÐ¾Ð´Ñ Ð¸ ÐºÐ¾Ð½ÑÐµÐ¿ÑÐ¸Ð¸, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÑÑÑÑ Ð² Ð½Ð°Ð¿Ð¸ÑÐ°Ð½Ð¸Ð¸ ÐºÐ¾Ð´Ð°. Ð Ð°Ð±Ð¾ÑÐ° Ð²ÐºÐ»ÑÑÐ°ÐµÑ Ð² ÑÐµÐ±Ñ Ð¾Ð±ÑÑÑÐ½ÑÑÑÐ¸Ðµ ÑÑÐ°Ð³Ð¼ÐµÐ½ÑÑ Ð¸ÑÑÐ¾Ð´Ð½Ð¾Ð³Ð¾ ÐºÐ¾Ð´Ð°. ÐÐ»Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÑÐµÑÐµÐ½Ð¸Ñ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÑÑ Ð°Ð½Ð°Ð»Ð¸Ð·, Ð²ÑÑÐ²Ð»ÑÑÑÑÑ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¸ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐ¸Ðµ Ð¿ÐµÑÑÐ¿ÐµÐºÑÐ¸Ð²Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ Ð² ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð².
description: This final qualification work considers the solution to the problem of path planning using the example of the international competition of mobile robots âsoccer WROâ. The paper provides an overview of various path finding algorithms, modern components for assembling a robotic system, for which a qualitative analysis is performed. On the basis of this, the most suitable technology stack is selected for current purposes. The work shows the developed algorithms and recommendations for the assembly of the model, which are used to build a robot, create program code and test it. Demonstrates the approaches and concepts that are used in writing code. The work includes explanatory fragments of the source code. For the developed solution, an analysis is made, the advantages and further prospects of using the results obtained during the work are identified.