TY - JOUR AU - Zakora, A. AU - Sazonov, V. PY - 2021/11/17 Y2 - 2024/03/29 TI - OPTIMIZATION OF TRAJECTORIES OF MOTION OF INTELLIGENT MOBILE ROBOTS WITH REMOTE SENSING OF LANDS OF THE FOREST FUND JF - Journal of Rocket-Space Technology JA - Rocket-Sp. Tech. VL - 29 IS - 4 SE - Spacecraft, satellite systems and methods for processing satellite data DO - 10.15421/452121 UR - https://rocketspace.dp.ua/index.php/rst/article/view/123 SP - 190-193 AB - The work is devoted to the choice of optimal trajectories of movement of intelligent mobile robots (IMR) with an autonomous system of movement and navigation during remote sensing of forest lands. This task is relevant when using mobile robots with limited operating time. It has many practical applications, in particular, in monitoring, photography, mapping, security patrolling of the forest fund, as well as in organizing the work of automated storage facilities. The considered problem is optimization; the target function is the sum of displacements of objects (WRI) to the locations of the task. To solve the problem, the transformation of the displacement matrix is ​​used, which allows, as a result, to obtain the distribution of objects by target points with the least total displacement and in the format necessary for further use. To solve the problem, an algorithm has been developed with a preliminary division into subsystems. On the basis of the mathematical model of the IMR movement, the trajectories of movement are calculated for the optimal distribution of objects at work places. Analysis of the obtained results of mathematical modeling of the process shows a significant saving in time when moving objects to the place and, accordingly, an increase in operating time. The developed algorithm and software module provide an opportunity to optimize the distribution of intelligent mobile robots that record forest resources, as a result, to obtain objective information about the state of forest funds. The program is intended for use in monitoring, photographing forests. The software block is implemented as a separate module for integration into a geographic information system. ER -