Abstract
The object of research is the completeness of information for making a navigation decision by an autonomous mobile robot when it performs a task in an unfamiliar area without GPS. It is difficult to identify a landmark in the absence and abundance of information. One of the most problematic places is the mathematical description of the criterion according to which an autonomous robot makes a decision about the completeness of information. The paper substantiates a model and method for determining the completeness of information by a robot equipped with several landmarks detection tools operating on different physical principles. It is shown that the implementation of the method requires a priori information on the probability of detecting various landmarks by passive and active means against a continuous and discontinuous background at different illumination of objects, in day and night conditions under different weather conditions. The values of the probability of detecting a specific type of landmark obtained in such studies serve as the basis for constructing an information cadastre for a job performing tasks on the ground. Three formulas are proposed for determining the coefficient of completeness of information, taking into account a priori and a posteriori inventories, and recommended areas of application. The value of this coefficient depends on the threshold level of the probability of detecting a landmark. The reliability of a decision made by a robot is greatest when it is made under conditions of a certain level of completeness of information. The proposed method can be used for other technical objects from which the measurement information is received. Compared with the known methods, it expands the boundaries of application and reveals the possibility of assessing the completeness of information in constantly changing conditions. Along with a change in these conditions, the characteristics of the completeness of information also change. The coefficient of completeness of information can approach unity even in the absence of separate means of detecting landmarks, and then the method makes it possible to assess the need for their use in the given conditions.
Highlights
The completeness of information is logically related to its sufficiency for making a decision
The coefficient of completeness of information can approach unity even in the absence of separate means of detecting landmarks, and the method makes it possible to assess the need for their use in the given conditions
To make a decision on the state of a technical object, it is necessary to obtain a certain amount of information, characterized by the coefficient of information completeness
Summary
The completeness of information is logically related to its sufficiency for making a decision. The widespread introduction of robots in various types of human activities has put forward the requirement for the promptness of reliable decisions, which can be implemented on the basis of complete information about the environment Both superfluous information and lack of fundamental information aggravate the quality of AMR decision-making in the process of its navigation in unfamiliar terrain [2]. It is relevant to develop a method for determining the completeness of information and its model for a wide class of technical objects, in particular, for the navigation of an autonomous mobile robot in an unfamiliar area in the absence of GPS. The aim of research is to substantiate a model and a method for determining the completeness of information about the state of a technical object using the example of information about the detection of a landmark by autonomous mobile operations
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