V. P. Noskov, Y. S. Barichev, О.P. Goydin, А.N. Kuryanov
2025-04-27
Abstract ▼
The work is devoted to solving urgent problems of joint autonomous visual navigation for air and ground-based robots in urbanized environments. These environments are highly demanded for special operations, including dense urban areas and buildings, where the use of traditional remote control devices is limited due to the presence of shielded areas. The proposed solution addresses group navigation tasks based on data from onboard vision systems during operational reconnaissance of the working area by an unmanned aerial vehicle (UAV). The results of this reconnaissance enable autonomous movement and flight, both for individual heterogeneous robotic systems and for groups.The navigation algorithms are based on methods for extracting a horizontal reference surface and horizontal sections of the external environment from a volumetric point cloud generated by an onboard lidar. These methods allow for the precise and rapid determination of all six coordinates of the control object. Cases where the navigation task cannot be fully solved due to specific environmental characteristics are also considered. To address these challenges, methods are proposed to enhance lidar rangefinding data by integrating video camera data. An accuracy assessment of the video navigation solutions is provided, obtained through mathematical modeling of the external environment and the generation of video data. To ensure safe autonomous flight and movement of robotic systems in urban environments, methods for reducing video navigation errors are proposed. These methods utilize a specially designed bank of reference images with known coordinates of their formation. The effectiveness of the applied methods and the proposed video navigation algorithms is confirmed by experimental studies of the corresponding software and hardware in real urbanized environments
