К планированию маршрутов в 3D-среде с многовариантной моделью

We present the results of the research on the planning of routes of unmanned vehicles (autonomous moving objects). The routing is based on the multivariant route model (MRM) formed a priori as a set of alternative paths from an initial point to the target one.. The MRM construction is done using the computer method of functional voxel modeling, combining the analytical form of describing a 3D-environment with the voxel representation of its local geometrical characteristics. Synthesis of the motion control and stabilization of the path trajectory are done by representing the control object as a multimode model and applying the reduction method to it.