title: Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð² ÑÑÐµÐ´Ðµ Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼Ð¸
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: Mobile robot autonomous navigation system for environments with dynamic obstacles
Creators: name: ÐÐ¾Ð½Ð´ÑÐ°ÑÑÐµÐ², ÐÑÑÑÐ¼
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: 2024
Subjects: Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð°Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ
Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ñ
SLAM
ÑÑÐµÐºÐ¸Ð½Ð³ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð²
Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÑÐ¸
Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
autonomous navigation
dynamic obstacles
dynamic objects tracking
path planning
motion planning

description: Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð² ÑÑÐµÐ´Ðµ Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼Ð¸. ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð½Ð°Ð¿ÑÐ°Ð²Ð»ÐµÐ½Ð° Ð½Ð° ÑÐµÑÐµÐ½Ð¸Ðµ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÑ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ð² ÑÑÐµÐ´Ð°Ñ Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼Ð¸. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ°ÑÐ¿ÑÐ¾ÑÑÑÐ°Ð½ÐµÐ½Ð½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐµÐ³Ð¼ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð½Ð° RGBD-Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸ÑÑ, Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸ Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð² ÑÑÐ°ÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ ÑÑÐµÐ´Ð°Ñ. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð² ÑÑÐµÐ´Ðµ Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼Ð¸, ÑÐ¾ÑÑÐ¾ÑÑÐ°Ñ Ð¸Ð· Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ ÑÐµÐ³Ð¼ÐµÐ½ÑÐ°ÑÐ¸Ð¸, ÑÑÐµÐºÐ¸Ð½Ð³Ð° Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð², Ð¼Ð¾Ð´ÑÐ»Ñ SLAM, ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾Ð³Ð¾ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°ÑÑ Ð² Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ ÑÑÐµÐ´Ð°Ñ, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÑÐ¸ Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð² Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ ÑÑÐµÐ´Ð°Ñ. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ñ ÑÐµÐ°Ð»ÑÐ½ÑÐ¼ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¼ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼ Ð¿Ð¾ÐºÐ°Ð·ÑÐ²Ð°ÑÑ ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°ÑÑ Ð² ÑÑÐµÐ´Ð°Ñ Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸ÑÐ¼Ð¸.
description: The goal of the research is to develop a system for autonomous navigation of a mobile robot in an environment with dynamic obstacles. This research is aimed at solving the main problems of autonomous navigation of mobile robots in environments with dynamic obstacles. In this research, common methods for dynamic objects segmentation on RGBD images, planning the path and movement of a mobile robot in static and dynamic environments are considered. mobile robot autonomous navigation system for environments with dynamic obstacles is developed, consisting of modules for dynamic objects segmentation and tracking, a SLAM module capable of functioning in dynamic environments and modules for path and motion planning in dynamic environments. The results of computer simulations and experiments with a real mobile robot show the ability of the developed system to function in environments with dynamic obstacles.