METHOD OF SPACE CONTROL BY A DISTRIBUTED VISION SYSTEM
Abstract
With the growing demand for mobile robotic complexes with an increased degree of autonomy, the demand for their information awareness increases significantly. Vision systems play a leading role in ensuring this awareness. To support the functioning of groups, as well as each individual robot, it is necessary to form an information field that allows for prompt decision-making in the control systems of both individual robots and the entire group as a whole. The desire to assign an increasing number of independently solved tasks to the robotic complexes requires an increasingly broad and detailed consideration of the field of operation from the VS. Distributed space surveillance and control systems are one of the promising areas for solving this problem, ensuring the formation of a unified information field based on cooperative perception, joint localization and semantic interpretation of the situation. The paper considers the problem of monitoring a given area of space by a distributed vision system in order to detect objects of interest with a known characteristic size in this area. At the same time, it is assumed that video cameras can be located on both ground and air vehicles. The layout of a distributed vision system for solving the formulated problem is described. The core of the described system is a unified information module with an omnidirectional recording unit. The module acts as an agent of the distributed VS. Several such modules are distributed over the area of space indicated on the map, taking into account the terrain features and other objects located in this area. The problem of choosing the optimal composition of a distributed system according to a number of criteria is solved. A methodology is proposed for planning the location of agents with specified characteristics of recording units on a given 3D terrain map to ensure the detection of objects of interest with known characteristic dimensions. An algorithm is given for calculating the locations of VS with fixed fields of view for monitoring a given area of rough terrain in order to identify static objects with known characteristic dimensions and differences from the surrounding background in reflectivity or moving objects
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