GMDH Application for autonomous mobile robot's control system construction. A.V. Tyryshkin, A.A. Andrakhanov, A.A. Orlov

Abstract. Fundamentals of autonomous mobile robot's (AMR) control system construction based on inductive approach of models' self-organization are considered. Close connection of control problem with recognition as well as their connection with objective parameters of AMR are shown. It was demonstrated that it is necessary to perform obstacle recognition allowing for system internal parameters for more effective AMR control (i.e. allowing for conditional obstacles' region). Inductive approach of AMR control system construction on basis of Method of Data Handling (GMDH) is proposed. Inductively found objective functions and function of objects' classification according to obstacle/not obstacle property for autonomous cranberry harvester.

Keywords. GMDH, autonomous mobile robot, obstacle recognition, objective function

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