Abstract
To increase the capabilities and expand possible applications of robotic systems for specialpurposes, switching from the currently being adopted remote control systems to semi-autonomoussystems that monitor operator actions and perform part of his functions is proposed. Moving toautonomous control systems capable of functioning in the "silent" mode, in shielded areas andbeyond the range of radio communications is proposed as a next step. Such intellectualization ofon-board control systems will allow to eliminate fundamental limitations and disadvantagescaused by the communication channel and ensures the implementation of robot group control. It isshown that the basis for robot autonomy increasing of on-board control systems, both for movementand tool control, is onboard environment model generation and determining the coordinatesof the control object. External environment model and current coordinates makes it possible toautomate the trajectory planning and movement, which ensures the autonomous functioning ofrobotic systems. The complex problem of environment segmentation according to geometric andground passability is considered, taking into account the characteristics of the chassis, the geometryof the relief and the supporting properties of the ground. The existing methods are describedand the results of experimental studies are given to solve the following main tasks: – classificationof the operation zone according to geometric passability based data from the onboard technicalvision system; – ground types recognition according to the integrated technical vision system; –using the apparatus of neural networks to improve the reliability of ground types recognition; –determination of ground reference characteristics by measuring the reactions of the chassis duringmovement. The promising directions for further research in integrating tactile and visual informationto improve the reliability of the classification of operation zone according to the complexcriterion of geometric and support passability are formulated.
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