ABSTRACTS OF ARTICLES OF THE JOURNAL "INFORMATION TECHNOLOGIES".
No. 8. Vol. 26. 2020

DOI: 10.17587/it.26.488-496

P. S. Romanov, Dr. Tech. Sc., Professor, e-mail: romanov_p_s@mail.ru, ORCID: 0000-0002-9969-3139, Kolomna Institute (branch) of "Moscow Polytechnical University" (Kolomna Institute (branch) of MPU), Moscow district, Kolomna, 408, Russian Federation, I. P. Romanova, Cand. of Tech. Sc., Associate Professor, e-mail: i-p-romanova@yandex.ru, ORCID: 0000-0001-5883-9907,
K. G. Razumovsky Moscow State University of technologies and management (the First Cossack University) (RAZUMOVSKY MSUTM (FCU)), Moscow, 109004, Russian Federation

Methodological Apparatus of Decision-Making and Intelligent Control of a Mobile Robot while Collecting Berries

The article deals with one of the tasks of intelligent agricultural mobile robot control — the task of selecting the way of application of the robot for picking the berries. One of the most popular berries grown in the European part of Russia is strawberries. Picking accounts to about 5З % of the total labor hours needed in growing strawberries. It is established that with the known yield of this strawberry cultivars, the profit from the picked berries depends on the weather conditions and the duration of good (dry and sunny) weather, on the efficiency of picking berries, on the weight and quality of the picked berries, on the technical characteristics of the mobile robot (its performance). The methodical apparatus of decision-making choice by the intelligent control system of a mobile robot is developed in the linguistic evaluation of the usage options for picking berries. The apparatus relies on a method based on establishing an order relation on fuzzy estimates, which is determined through probabilistic estimates for their clear equivalents. As a solution of this problem, the variant with the lowest rank from the obtained ranked series of possible solutions is chosen. Methodological apparatus applied to the solution of the problem of choosing the order of application of mobile robot the type of Agrobot for picking the berries. This device can be implemented in the development of software not only in the management of intelligent mobile robots picking berries, but also in the management of robots for other purposes.
Keywords: mobile robot; artificial intelligence; intelligent control system; decision — making; linguistic evaluation of solutions; the method of establishing order relations on fuzzy estimates; berry picking

P. 488–496

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