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Information × Registration Number 0310U002219, 0109U004835 , R & D reports Title Development of 3D localization methods for navigation of mobile robots popup.stage_title Розробка структури керування мобільним роботом, що дасть можливість сформувати підходи до взаємодії компонентів системи, що базується на аналізі вимог системи керування МР, характеристик сенсорів, та конфігурації робота. аналіз існуючих способів і розроблення покращених методів злиття сенсорних даних базованих на конфігурації мобільного робота із застосуванням нейронних мереж на основі сформованих на етапі потоків даних: а) розроблення методів опису зображень; б) методи пошуку кореспондуючих точок стереозображень та побудови 3-вимірного середовища та визначення позиції МР Head Sachenko Anatoly Olexiyovych, Registration Date 18-02-2010 Organization Ternopol National Economic University popup.description2 The object of investigations: The structure of control system of autonomous mobile robot, mrthods of stereoimage formation, methods of correspondening points searching on image, methods of stereoimage formation, methods of building of map of 3D environment of mobile robot The subject of research: The components of control system of autonomous mobile robot, information data flows, the characteristics of sensors, time characteristics of components of control system of mobile robot, mathematical model of digital pinhole-camera, methods of reconstruction of 3D environment on the basis stereoimages. The goal of investigations: development of structure of mobile robot (MR) control system, which give the ability to form the approaches for interconnections of components of system, which is based on the analysis of requirements for MR control system, the characteristic of sensors and robot configuration, analysis of existed means and development of improved methods of sensor readings fusion based on mobile robot configuration with using of neural networks on the basis formated data flows: a) development of image description methods; b) methods of correspondance points searching on stereoimages and and 3D environment map building, defenition of MR position. Methods of investigations: Methods of theory of systems and system analysis, methods of simulation, geometrical methods, linear algebra, projective and analytical geometry, numerical methods, digital image processing. Results and their novelty: 1. The configuration for interconnections of main modules of AMR for support of navigation without collisions with obstacles was formed and Data Flow Diagram for main components of robot. 2. The model of AMR control system was improved in the cost of putting of decision of choise of navigation method making block into operation 3. Method of data flows estimation and time delays of main functional modules of AMR received further progress 4. The recomendations about necessery perfomance of computational resources for navigation and maneuvers of AMR were justified. 5. The main requirements for protocol of interaction between software- and hardware- depended functional blocks of AMR were formed and it allows to develop the client-server protocol. Product Description popup.authors Адамів Олег Петрович Капура Віктор Анатолійович Коваль Василь Сергійович popup.nrat_date 2020-04-02 Close