Terminal Control Researching with Application of the Key Points to Assess the Defined Problem Realization

In article it's made the analytical review of articles in which methods and algorithms of terminal control are considered. Terminal control - coordinated movement of a mobile robot (MR) in time and space. The purpose of the terminal control problem solution is searching of such movement control of the mobile object, which provides achievement of the target position from the initial point in a given time with the given tolerance. Since the environment is uncertain, a heuristic approach to solving the problem of terminal control together with automatic motion control of the MR is applied. This paper proposes the application of intelligent evaluation of the terminal state of MR. This is the difference between solving the problem of terminal management with the proposal to introduce into the environment of movement of control (reference) areas (points). At each control point, the parameters of the further movement of the MR are calculated. The method of key areas definition in the motion environment allowing to lower the indeterminacy degree during the solution of the terminal control problem is developed. Empirical researches of the proposed method that showed the effectiveness of the proposed approach to the solution of the terminal control problem are conducted.