Кафедра комп’ютерно-інтегрованих технологій, автоматизації та робототехніки (КІТАР)
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Перегляд Кафедра комп’ютерно-інтегрованих технологій, автоматизації та робототехніки (КІТАР) за автором "Amer Abu-Jassar"
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Публікація Building a traffic route taking into account obstacles based on the A-star algorithm using the python language(2024) Yevsieiev, V.; Amer Abu-Jassar; Maksymova, S.This paper explores the use of the A-Star algorithm to construct an optimal route for a mobile robot, taking into account obstacles using Python. The developed program allows you to generate a map with an arbitrary location of obstacles and automatically find the optimal path from the start to the end point, taking into account the complexity of the route. The paper presents the results of implementing the algorithm under various scenarios for the location of obstacles, which allows us to evaluate the effectiveness and reliability of the algorithm in various conditions. Experiments have shown that the A-Star algorithm provides fast and accurate route generation even in complex environments with many obstacles. The results of the study can be used to improve the autonomous navigation of mobile robots in real working conditions.Публікація Route constructing for a mobile robot based on the D-star algorithm(Technical science research in Uzbekistan, 2024) Yevsieiev, V.; Amer Abu-Jassar; Maksymova, S.; Ahmad AlkhalailehThis paper discusses the use of the D-star algorithm to construct an optimal route for a mobile robot in a space with obstacles. We present a mathematical description of the D-star algorithm operating principle, which is based on the idea of dynamic programming and step-by-step path cost updating. Based on this description, a Python program was developed that is capable of building a route for the robot, taking into account the situation around it. To test the efficiency and accuracy of the algorithm, a number of experiments were carried out on various test maps with different obstacle configurations. The results showed that the D-star algorithm demonstrates high efficiency and reliability in constructing the optimal route for a mobile robot under various conditions.Публікація Route planning for a mobile robot in 3d space based on an algorithm probabilistic roadmap(Journal of Universal Science Research, 2024) Yevsieiev, V.; Maksymova, S.; Amer Abu-JassarThis article discusses route planning for a mobile robot in three-dimensional space using the Probabilistic Roadmap (PRM) algorithm. The mathematical apparatus of PRM allows you to build a state graph for the robot’s movement space, taking into account obstacles and environmental features. The developed Python program includes an implementation of the PRM algorithm to find the optimal path in 3D space. Experiments on route generation in various environments were conducted to demonstrate the effectiveness and accuracy of the proposed approach. The results obtained confirm the applicability of the PRM algorithm for route planning of mobile robots in complex 3D environments.Публікація The Optical Flow Method and Graham’s Algorithm Implementation Features for Searching for the Object Contour in the Mobile Robot’s Workspace(Journal of Universal Science Research, 2024) Amer Abu-Jassar; Yevsieiev, V.; Maksymova, S.This article examines the optical flow method and graham algorithm implementation features for searching for the object contour in the mobile robot’s workspace. The mathematical models of both methods were discussed in detail and then implemented in a Python program using the PyCharm development environment. As part of the study, a number of experiments were carried out, the purpose of which was to evaluate the performance of the optical flow method and the Graham algorithm for extracting the contour of an object. The research results presented in the article highlight the effectiveness of the optical flow method and the Graham algorithm in real-time conditions.