ОРГАНИЗАЦИЯ ЦЕЛЕНАПРАВЛЕННЫХ ПЕРЕМЕЩЕНИЙ ПОДВИЖНЫХ СРЕДСТВ С ИСПОЛЬЗОВАНИЕМ ЗРИТЕЛЬНЫХ ОРИЕНТИРОВ

Abstract

The report considers the solution of the navigation problem with the help of a technical visionsystem that determines the position of the mobile vehicle relative to the landmarks indicatedin the surrounding space. Navigation by landmarks is the most objective criterion for the locationof a mobile vehicle in the surrounding space. The method of measuring the parameters of the ratiosthat characterize the location of the mobile vehicle relative to the landmarks is almost independentof other navigation measurements. Data input for correcting coordinates and other motionparameters can be performed not continuously, but at some discrete, and, in general, quiterare moments of time. The general scheme of the solution is considered: from setting up, to receivingnavigation information. The integration of the obtained data with data from other navigationtools is briefly described, and the key problems and parameters of the VS that affect the accuracyof the obtained results are analyzed. The key point in this method is the solution of a system ofequations describing the position of robotic complexes relative to the specified landmarks. Thissystem is solved by a modified Gauss-Newton method for a nonlinear redefined system of equations.By replacing the left side of each equation with its differential at the point of initial approximation,linearization is performed. The values of the unknowns in the redefined system of linearequations for which the sum of the squared residuals in the equations is minimal can be obtainedeither by the SVD (singular value decomposition) method or by using the system's symmetrization.At the same time, SVD is more resistant to the accumulation of computational error, but it issomewhat more demanding on computer resources and more difficult to implement. We used thesymmetrization solution as a simpler one. The resulting system is solved by the square root(Cholesky) method. To detect landmarks in the VS, two types of VS modules are used – panoramic,based on a camera with a fish-eye lens, and stereo. The proposed method allows us to solve theproblem of clarifying the parameters of motion by separate, sparse measurements of the properposition and speed relative to landmarks in the surrounding space. Independently and in combinationwith other navigation tools, the described approach provides high-precision determination ofnavigation parameters in various driving conditions. The results of field experiments with themodel of the proposed system in motion under various conditions are described. The ways of improvementand development of the considered approach are discussed.