Authors V.N. Kazmin, V.P. Noskov
Month, Year 10, 2015 @en
Index UDC 007:621.865.8
Abstract Solutions for problems of robot localization and constructing a map of an unknown environment, which are central in autonomous robotics, based on detecting geometric and semantic objects in range-finder data images obtained with on-board sensors while moving in industrial and urban environments, are proposed and discussed. The urgency of creation and usage of autonomous robotic systems of various purposes for such environments argued, due to limits of the usage of traditional means of navigation and remote control. The analysis of various algorithms for detecting geometric and semantic objects in range image is performed. It is shown that algorithms that take into account the structured nature of original sensor’s data are most effective. The mathematical apparatus for solution of problems of robot localization and constructing a model of the environment through the detecting and recognition of linear geometric and semantic objects in a sequence of range images obtained with on-board sensors in motion is provided. The results of the work of created algorithms, software and hardware, solving the task in the rate of motion of the mobile robot in the real world, are shown. Based on the analysis of theoretical and experimental studies it concluded that the proposed approach provides a transition from large amounts of original range-finder data to a compact semantic description of an environment and can effectively solve the problem of autonomous motion control of mobile robots and unmanned aerial vehicles.

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Keywords Autonomous mobile robot; vision system; navigation; environment reconstruction; motion control.
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