Formulation of the Optimization Problem of the Cyber-Physical Diagnosis System Configuration Level for Construction Mobile Robots

This article studies the development of a cyber-physical prediction diagnosis system for electric drives of the construction robots. The structure of the five level diagnosis cyber-physical system is described. The optimization problem with the configuration level of the cyber-physical diagnostic system is formulated.The problem of determining the optimal trajectory for a mobile construction robot taking into account the wear of its electric drives is presented. As an example, a construction four wheels mobile robot with a differential drive is considered. The task of the robot is the alignment of the construction site, which involves its sequential bypass. From the standpoint of wheels drives wear, the trajectory is considered optimal if the robot makes approximately equal number of right and left side turns. To design a mathematical model for optimal trajectory determination, graph theory and probabilistic algorithms is proposed. The presented model does not take into account the soil structure and the working space inclination.