Abstract
The work describes a hybrid algorithm for the dynamic formation of a robot’s movement route in nondeterministic environments with bypassing stationary and nonstationary obstacles for two-dimensional space, based on the integration of wave and ant algorithms, which makes it possible to build trajectories of minimum length in real time with simultaneous optimization of a number of criteria for the quality of the constructed path. Restrictions preventing the construction of a trajectory from the current position are identified during the construction process. The trajectory is constructed step by step. The entire trajectory connecting the robot’s initial position with the target position is a collection of individual sections. The time complexity of the algorithm depends on the lifespan of the colony, l (number of iterations); the number of graph vertices, n; the number of ants, m; and is estimated as O(ln2m).
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Oleg B. Lebedev. Date of birth: July 15, 1972. Higher education, graduated from Taganrog State Radio Engineering University in 1994 with a degree in Computer-Aided Design Systems. Qualification: systems engineer. In February 2022, he defended his dissertation: Doctor of Engineering (05.13.12—design of automation systems (engineering)). He was the responsible executor and scientific supervisor of a number of important works related to the development of new intelligent procedures, methods, and algorithms for solving optimization problems in the design of ultra-large-scale integrated circuits and intelligent information systems. The main scientific results were obtained in the field of developing algorithms for optimizing design problems, decision making, and intelligent information systems. Area of expertise: information science and computer technology; models, methods, and algorithms for computer-aided design; evolutionary cybernetics; decision theory; evolutionary modeling; adaptive behavior; optimization; artificial intelligence; multiagent systems; neural networks, swarm intelligence. Author and co-author of 265 scientific papers, including 22 monographs; 1 monograph was published personally by the author; 8 educational and methodological works; 39 certificates of registration of computer programs; 2 patents. Member of the organizing committee of the annual international scientific and technical congress “Intelligent Systems and Information Technologies” (IS&IT), held in Divnomorskoe, Krasnodar krai, on September 2–10, annually for 25 years.Member of the international program committee of the International Scientific Conference “Intelligent Information Technologies in Engineering and Manufacturing (IITI’22)” (collection of Lecture Notes in Networks and Systems, Springer series). In 2022, it is held from October 31 to November 6, Istanbul, Turkey. Member of the program committee of the International Scientific and Practical Conference “Integrated Models and Soft Computing in Artificial Intelligence” (IMMV-2022). In 2022 it will be held on May 16–19, Kolomna, Russian Federation. Member of the Russian Association of Artificial Intelligence. Awarded a diploma “For active work in the field of scientific and design-innovative activities of the university” (2015), and has gratitude “For high performance in professional activities” (2015).
Maxim I. Beskhmelnov was born in 1998. In 2022, graduated with honors from the Peoples’ Friendship University of Russia named after Patrice Lumumba in specialty 02.04.02—Fundamental computer science and information technology. Since 2023, studying at full-time graduate school of the Russian Technological University “MIREA,” specialty 1.2.3—Theoretical computer science, cybernetics. Works in MIREA since 2017. Since 2022, a university teacher. Participates in the research “Development of algorithms for analysis and pre-processing of data to improve the accuracy of machine learning models, taking into account the formulation of applied problems.” Took part in research work on development undergraduate and graduate programs in the field of artificial intelligence, as well as for advanced training of teaching staff of educational institutions of higher education in the field of artificial intelligence (Competition code 2021-II-01), R&D “Development of software for the implementation of volumetric technology of bio-fabrication of cellular tubular objects/constructs using physical fields.” Currently doing research related to development methods and algorithms of bio-inspired optimization based on intensified swarm intelligence models.
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Lebedev, O.B., Beskhmelnov, M.I. Dynamic Formation of Robot Movement Route in Nondeterministic Environment with Bypassing Stationary and Nonstationary Obstacles. Pattern Recognit. Image Anal. 34, 543–548 (2024). https://doi.org/10.1134/S1054661824700330
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DOI: https://doi.org/10.1134/S1054661824700330