Cyber-physical System of the Mobile Robot’s Optimal Trajectory Planning with taking into account Electric Motors Deterioration

The article is devoted to the development of a cyber-physical planning system for the optimal trajectory of a mobile robot, taking into account the technical state and deterioration of its electric motors. The relevance of using mobile robots and control methods has been described. The relevance of the cyber-physical diagnostics system and control of mobile robots application has been justified. The structure of the cyber-physical system and applied diagnostic method, including five levels has been described. Most attention was focused on the task of optimizing the movement of a mobile robot. Three robot's movement trajectories along a rectangular field was considered, their comparative analysis according to the parameters of speed and wear is made. Graph theory and probabilistic algorithms are proposed to make a mathematical model of the optimal definition of the trajectory.