The Creation of the Database for Mobile Robots Navigation under the Conditions of Flexible Change of Flight Assignment
The Creation of the Database for Mobile Robots Navigation under the Conditions of Flexible Change of Flight Assignment
复制标题
灵活变更飞行任务条件下移动机器人导航数据库的建立
DOI：
10.46338/ijetae0521_05
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Hennadii Kovalov
中科院分区：
文献类型：
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作者：
N. Yeromina;V. Kurban;Serhii Mykus;O. Peredrii;O. Voloshchenko;Vitalii Kosenko;V. Kuzavkov;O.V. Babeliuk;M. Derevianko;Hennadii Kovalov
文章指出，必须根据空中移动的机器人（MR）的相关极值导航系统（CENS）的结构和功能特点，特别是飞行任务灵活变化的条件，找到一种合理的方法来建立一个关于瞄准面的数据库。建议使用不变量作为数据库信息内容，所述不变量是基于根据亮度指数对场景进行相关性分析而获得的，并且允许形成选择性图像。本文给出了在时间和计算次数有限的条件下，对各种目标实现的场景所形成的选择性参考像（RI）的质量评价结果
The necessity to find a rational way of creating a database regarding the sighting surface taking into consideration the features of construction and functioning of correlation-extreme navigation systems (CENS) of aerial mobile robots (MR), including in particular the conditions of flexible change of flight assignment, is shown in the article. It is proposed to use invariants, which have been obtained based on a correlation analysis of the scene according to the brightness index with the subsequent and allowing to form selective images, as a database information content. The results of the evaluation of the quality of formed selective reference image (RI) for scenes with various object impletion under conditions of limitations in time and number of calculations are given