DYNAMIC ROBOT PATH PLANNING BASED ON SEMANTIC OBJECT DETECTION USING MIVAR EXPERT SYSTEM

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Shen Qiujie
Postgraduate Student, Bauman Moscow State Technical University (BMSTU).
105005, 2nd Baumanskaya str., 5, bld. 1, Moscow, Russia, email shencr0929@gmail.com.
Research interests: artificial intelligence, mivar technologies of logical artificial intelligence, information processing, pattern recognition, cybernetics.

Gong Shengshuo
Postgraduate Student, Bauman Moscow State Technical University (BMSTU).
105005, 2nd Baumanskaya str., 5, bld. 1, Moscow, Russia, email hiteyeb@163.com.
Research interests: artificial intelligence, mivar technologies of logical artificial intelligence, information processing, pattern recognition, cybernetics.

Varlamov Oleg Olegovich
Doctor of Technical Sciences, Professor; 1) Chief Researcher, JSC "Research Institute of Computing Complexes"; 2) Professor of the Basic Department No. 254 of Computing Complexes, Institute of Artificial Intelligence, RTU MIREA; 3) Professor of the Department of Information Processing and Control Systems, BMSTU.
1) 117437, Profsoyuznaya str., 108, Moscow, Russia, email ovar@narod.ru.
2) 119454, Vernadsky Avenue, 78, Moscow, Russia, email ovar@narod.ru.
3) 105005, 2nd Baumanskaya str., 5, bld. 1, Moscow, Russia, email ovar@narod.ru.
Research interests: artificial intelligence, expert systems, logic, mivar technologies of logical artificial intelligence, information processing, decision-making, pattern recognition, natural language understanding, cybernetics, autonomous robotic complexes.

Adamova Larisa Evgenievna
Candidate of Psychological Sciences, Associate Professor; Associate Professor of the Department of General Psychology and Psychology of Labor, Russian New University (RosNOU).
105005, Radio str., 22, Moscow, Russia, email larisapers@yandex.ru.
Research interests: psychology, artificial intelligence, mivar technologies of logical artificial intelligence.

Balenko Elena Georgievna
Candidate of Agricultural Sciences, Associate Professor; Head of the Department of Natural Sciences, Don State Agrarian University.
346493, Krivoshlykova str., 24, Persianovsky village, Oktyabrsky district, Rostov region, Russia, email balenko2008@mail.ru.
Research interests: physics, artificial intelligence, mivar technologies of logical artificial intelligence, information processing.

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UDC 004.891
DOI 10.24412/2413-7383-2024-3-164-176
Language: Russian
Annotation: An algorithm for dynamic path planning of a ground robot based on semantic object detection technology is developed to improve human safety when robots operate in large spaces. Our study takes into account the psychological characteristics of human behavior and movement in large spaces. The algorithm combines 2D laser scanning data with information on the categories and positions of objects identified by object detection in images. Depending on the importance of the object category, the algorithm increases the obstacle area on the map, which allows the robot to avoid important objects (e.g., children) when planning a route and improves the safety of the robot in the presence of people. The mivar expert system implements a corresponding prototype of the data fusion algorithm, which can be used in airports, railway stations, shopping malls and other places to improve human safety when robots operate in large spaces.
Keywords: mivar, mivar expert systems, pattern understanding, trajectory planning, object detection, data fusion, obstacle magnification, indoor environment, robot safety.

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Release: 4(35)'2024
Chapter: SYSTEM ANALYSIS, CONTROL AND INFORMATION PROCESSING, STATISTICS
How to quote: Shen Qiujie Gong Shenshuo Varlamov O. O. Adamova L. E. Balenko E. G. DYNAMIC ROBOT PATH PLANNING BASED ON SEMANTIC OBJECT DETECTION USING MIVAR EXPERT SYSTEM [Text] / Shen Qiujie Gong Shenshuo O. O. Varlamov L. E. Adamova E. G. Balenko // Problems of artificial intelligence. - 2024. № 4 (35). - P. 164-176. - http://paijournal.guiaidn.ru/ru/2024/4(35)-14.html

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