Optimal technological process planning approach based on the state of mechatronic systems

Abstract

The article presents the problem formulation for diagnostics and optimal planning of the trajectory of the technological process taking into account the wear of the mechatronic systems and its electric motors. As an example, we consider a mobile robot with a differential drive, which must successively pass a field of various shapes. The trajectory of movement is chosen taking into account the wear of its electric motors. To solve this problem, it is supposed to use graph theory and probabilistic algorithms. Examples of solutions to the problem are given without taking into account the properties of the soil in the working space of the robot, used by the type of drive and its angle of rotation. The power of sets of feasible solutions will increase significantly with increasing number of technological operations, which, in turn, will lead to inefficiency of using brute force methods for solving the formulated problem and the need to solve it based on probabilistic algorithms agent metaheuristics.