title: ÐÐ»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð¸ Ð°Ð½Ð°Ð»Ð¸Ð· ÐµÐµ Ð¿ÑÐ¾Ñ Ð¾Ð´Ð¸Ð¼Ð¾ÑÑÐ¸ Ð² Ð·Ð°Ð´Ð°ÑÐ°Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: An algorithm for constructing a terrainÂ map and analyzing its patency in the tasks of autonomous navigation of mobile robots
Creators: name: ÐÐ¾ÑÐµÑÐ¸Ð½, ÐÐ»ÐµÐºÑÐ°Ð½Ð´Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð Ð¾Ð±Ð¾ÑÑ
Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÑÐ¸
Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿ÑÐ¾Ñ Ð¾Ð´Ð¸Ð¼Ð¾ÑÑÐ¸
path planning
traversability analysis

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description: The purpose of the work is to implement an algorithm for constructing a map of an open area and analyzing it for patency. The task of autonomous navigation of a mobile robot on an open map is to safely move the robot from point to point or another route, considering the terrain. An information and analytical search were carried out for various algorithms for the construction of a terrain map and terrain analysis. Various approaches to solving the problems of global and local navigation were considered in the work. A simulation of the construction of a terrain map using a 3D lidar has been implemented. Based on the constructed map, an algorithm has been developed for analyzing the cross-country terrain, based on the relief features of the map and the technical characteristics of the mobile robot. Computational experiments were carried outÂ  in path planning tasks to evaluate the compiled algorithm. Based on the results of theÂ  experiments, it was demonstrated that navigation in open rough terrain is very differentÂ  from navigation of a mobile robot in office premises and a cross-country analysis isÂ  necessary for safe planning of the robots path.