Development of an Artificial Intelligence Tool and Sensing in Informatization Systems of Mobile Robots

Abstract

The informatization systems of mobile robots are considered. A mock-up of an autonomous tool for research and modeling of the navigation system, movement models, informatization systems, manipulators and sensing of mobile robotic systems has been developed. The system is built on the JetRacer platform, which uses NVIDIA Jetson Nano. Peculiarities of representation of nonlinear differential models by a recurrent algebraic sequence are studied. The influence of the linearization error of the automated control system (ACS) object, the vector-indicator on the model error was studied and analytically evaluated. A method of model shape transformation has been developed, as a result of which we have three new formalized information quantities. Analytical expressions of the approximation of the solution and the upper limit of the error and the number of iterations, starting from which the error will be smaller than the given one. It is shown that its suitability for information analysis and conclusion, without human participation, defines it as an artificial intelligence (AI) tool. The influence of the linearization error of the ACS object, the indicator vector on the model error was studied. A kinematics model of the manipulator is formed based on the analytical solution of the inverse problem and the sensing system, which determines the angular position of the gripper. Simulation of robot movement, influence of the number of eigenvalues and model parameters on the error was carried out, and the error of the solution of the inverse problem was investigated.