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• HARDWARRE-SOFTWARE FRAMEWORK FOR DEVELOPMENT OF MODULAR MOBILE ROBOTS WITH HIERARCHICAL ARCHITECTURE

  V.P. Andreev, V.L. Kim, S.R. Eprikov

  2020-07-10

  Abstract ▼

  In this paper, we consider the main problems associated with the need to integrate various robotic components into a single system while increasing the complexity of the navigation algo-rithms of mobile robots. The work aims to present a hierarchical modular architecture for reconfigurable mobile robots as a solution to the problems posed. In this architecture, a mobile robot is considered as a combination of modules, which in turn consist of simpler blocks - submodules. Each submodule includes a low-power microcontroller and is responsible only for the basic func-tions. A set of submodules forms a module - a transport platform, a robot leg, a manipulator, etc. Besides, one of the main objectives of the project is to provide a framework based on this architec-ture for rapid prototyping of robots from unified modules. The article describes the manufactured prototypes of the modules, briefly discusses the protocol of intermodular interaction of submodules connected by a CAN bus. The results of experiments on testing the protocol are presented and their analysis is given. The efficiency of the proposed solution limitations and a short plan of fur-ther actions for the implementation of the project are shown.

• VISUAL NAVIGATION OF UNMANNED AERIAL VEHICLES USING SEMANTIC TERRAIN DESCRIPTIONS

  N.V. Kim, N. V. Udalova, N. Е. Bodunkov, D.S. Girenko, N.А. Lyapin

  2025-04-27

  Abstract ▼

  The article addresses the problem of visual navigation for unmanned aerial vehicles (UAVs), which
  involves the automatic determination of the current position of the UAV (coordinates in the ground (local)
  coordinate system) based on the comparison and identification of descriptions of the current images (CI)
  received on board with reference descriptions stored in the form of a digital map in the memory of the
  UAV's onboard computer. The aim of this work is to improve the efficiency of visual navigation methods in
  terms of increasing computational performance, robustness, and accuracy of image identification algorithms
  in complex and changing observation conditions by using semantic descriptions of observed scenes.
  In this work, semantic descriptions are understood as descriptions that include classes of objects observed
  in the scene, their attributes, and relationships between them. The preparation of semantic descriptions of
  the map is carried out at the pre-flight preparation stage of the UAV using pre-trained neural networks for
  semantic segmentation. Semantic descriptions of the received CIs are generated on board the UAV. The
  use of neural network algorithms allows this process to be implemented in real-time for a wide range of
  observation conditions (different times of day and year). The use of semantic descriptions of the map and
  CI reduces computations compared to traditional pixel-by-pixel matching of raster images. Semantic descriptions
  are compared by matching object classes, their attributes, and relationships. The work presents
  a general algorithm for visual navigation, the main stages of the methodology for forming semantic descriptions,
  and the algorithm for comparing and identifying semantic descriptions of CIs and map descriptions.
  A hierarchical algorithm for comparing and identifying images based on the sequential application
  of semantic and raster descriptions of observed scenes is proposed. It is shown that the use of the procedure
  for comparing semantic descriptions of CIs and maps by the classes of objects present significantly
  reduces the computations necessary for image identification

• AUTOMATED LANDING OF AN UNMANNED HELICOPTER TO AN UNEQUPPED SITE

  N.V. Kim, V.P. Noskov, I.V. Rubtsov, V.A. Anikin

  2020-07-10

  Abstract ▼

  Unmanned helicopters perform many tasks in difficult operating conditions and are subject to various destabilizing factors that significantly affect flight safety. The main problems encoun-tered in the operation of unmanned helicopters are considered. It is shown that the insufficient level of flight safety is caused, in particular, by the high frequency of crashes during forced land-ings. The necessity of creating onboard means of automatic landing of an unmanned helicopter is proved. Taking into account the requirements of the Federal aviation regulations for landing plac-es, the parameters-restrictions that allow formalizing the choice of terrain areas suitable for land-ing according to the onboard technical vision system are formulated. On the basis of comparative analysis, it is shown that at present, when forming the initial video data for solving this problem, it is advisable to use a complex system of technical vision based on mutually adjusted and having a common viewing area of a 3D laser sensor, color video camera and thermal imager. The proposedrecognition algorithms of the pick-up location in the video data on-Board complex system of tech-nical vision with the use of geometric criteria and the reference permeability. It is proposed to perform the recognition of landing places based on the criterion of geometric cross-country capa-bility in two stages: at the first stage, a map of terrain heights is formed based on 3D laser sensor data, and at the second stage, areas suitable for helicopter landing are selected. Recognition of suitable and unsuitable areas is performed by comparing the elevation differences of this terrain with the reference elevation differences defined for this unmanned helicopter. It is proposed to perform the recognition of suitable landing sites based on the criterion of reference passability by calculating the Euclidean distance between the obtained data and pre-known standards corre-sponding to different types of soil in the six-dimensional feature space (height variance, reflected signal intensity, three colors, and temperature). The final selection of suitable places for planting is proposed to be made from sites that meet both criteria. The results of the work of the corre-sponding software and hardware in real conditions are presented, confirming the correctness and effectiveness of the proposed algorithms.