Multicriteria evaluation of the trajectory of a wheeled mobile robot - a case study

The problem of maintaining accuracy of autonomous movement of vehicles and robots is an important element of keeping the right level of traffic safety. This applies not only to autonomous cars, but also to construction or other industry mobile robots that will soon appear in the human environment. With that in mind, the authors present a multi-criteria assessment process, which can be used to assess the qualitative and quantitative movement of such robots, in order to better identify passage errors, as well as improve their way of moving. The authors wanted to check the effect of the set power level on engines, repeatability of subsequent runs, and the impact of the level of contamination of the surface on the stability of the robot movement. The article describes the results of the robots movement assessment based on (1) the surface areas of the routes envelope, (2) the augmented average route length and (3) the number of trajectory intersections. The results obtained were compared to the research scenarios - differences in set power for motors and the state of contamination of the surface