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• ORGANIZATION OF MOBILE ROBOTS NAVIGATION BASED ON COGNITIVE MAPPING

  А.М. Korsakov , V. V. Ivanova

  2026-04-29

  Abstract ▼

  The article addresses the relevant task of ensuring the autonomy of mobile robots in complex conditions, where the use of traditional navigation methods based on global coordinate systems and satellite data is impossible or ineffective. To solve this problem, an approach based on cognitive (interpretive) navigation is proposed, where semantic understanding of the environment plays the central role. The key feature of the method is the construction of a cognitive map – a semantically oriented graph whose vertices correspond to landmark objects (or groups of homogeneous landmarks), and whose edges correspond to fixed sets of information-motor actions (elementary conditioned behavioral patterns). Thus, the robot's route while moving along the cognitive map is reduced to a fixed set of information-motor actions. The map construction process is carried out automatically based on a pre-obtained semantically segmented image of the terrain, which allows the mobile robot to acquire a priori information about the relative positions and shapes of the landmarks. To formalize the navigation process and manage the robot's behavior based on the cognitive map, the authors propose a specially developed formal language, LRNB (Language of Robot Navigation Behavior). This language allows the decomposition of complex missions into elementary information-motor actions, the specification of their completion conditions, and the description of interaction scenarios with dynamic and static objects. The work details the principles of building a cognitive map, the syntax of the LRNB language, and the mechanism for forming a route as a sequence of commands. The practical part includes the results of verifying the approach in a simulation environment using a specially developed emulator, as well as preliminary field tests on a laboratory tracked mobile robot, which confirmed the fundamental feasibility of the proposed approach. The obtained results indicate the potential of the method for application in critically important scenarios, such as disaster zones, areas of electronic warfare, and other environments with a high degree of uncertainty. Further work plans are proposed, related to bringing experimental conditions closer to the real-world conditions of potential operation.

• THE PROBLEM OF CHOOSING A DUMPING FACTOR IN THE EFFECTIVE CONTROL MODEL FOR DIRECTED WEIGHTED SIGNED GRAPHS

  A.N. Tselykh, V.S. Vasilev, L.A. Tselykh

  2020-07-20

  Abstract ▼

  The paper deals with the problem of choosing a dumping factor in the effective control model
  based on maximizing the transfer of impacts for fuzzy cognitive models represented by directed
  weighted signed graphs. To transfer influence, a management model is used that implements the
  development of the system. An effective control algorithm is based on solving the optimization
  problem of finding a vector of external influences that maximizes the accumulated increase in
  increments of vertex indicators. The optimal control effect is considered to be a control that provides
  the maximum ratio of the square of the norm of the response vector of the system to the
  square of the norm of the control vector. The dumping factor of this model controls the comparative
  scale of the direct and indirect influence of all intrafactor relationships of the system as a
  whole. The purpose of the study is to determine such areas of acceptable values for the obtained
  solutions, in which (i) the condition of consistency of the result is met; (ii) the change of vertex
  ranks is slow. By the sequence of results, we mean satisfaction with the rules of the system as a
  whole. These rules can be expressed in imposing restrictions on the status of vertices, on the sign
  of impacts and responses. Set the damping factor, called the resonance, where resonance occurs a
  surge in the value of the objective function the problem of maximization of the impact when there
  is no alignment between the resonant response and caused its effect. The choice of the dumping
  factor affects the value of the target function of the impact maximization problem and the vector of
  effective management on which this solution is achieved. The value of the resonant damping coefficient
  can be interpreted as the limit of the possible controllability of the system, i.e. limit the
  potential impact on the system without harming it. The proposed solution is evaluated based on the
  degree of stability of the rank of model nodes depending on the influence of changes in the damping
  coefficient, the algorithmization of determining the range of its acceptable values and the
  shape of the resonance within the values of the damping coefficient.