Abstract
A combinatorial approach is proposed to define the working zone of mobile autonomous robots. The so-called illumination zones are introduced and an algorithm for robot navigation is presented. Another algorithm is considered for high-precision solving of the matrix Riccati equations. The program realization of these algorithms is worked out. The corresponding program package is written in computer language Turbo C for personal computers PC/XT/AT/PS and compatible. This program package may be applied to solve various problems for adaptive and optimal control of mobile autonomous robots that are used in Flexible Manufacturing Systems (FMS).
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