title: ÐÐ²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð°Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð°Ñ ÑÐµÐ»ÐµÐ¶ÐºÐ° Ñ ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ð¼ Ð·ÑÐµÐ½Ð¸ÐµÐ¼
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: Automated transport trolley with technical vision
Creators: name: ÐÐ´Ð°Ð¼, ÐÐ±Ð´ÑÑÑÐ°Ð¼Ð°Ð´
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: 2023
Subjects: ÐÐ°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ
ÐÐ°ÑÑÐ¸ÐºÐ¸
ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¾Ðµ Ð·ÑÐµÐ½Ð¸Ðµ
Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ðµ Ð²Ð¾Ð¶Ð´ÐµÐ½Ð¸Ðµ
technical vision
autonomous driving

description: Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð±ÑÐ» Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸, Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÐµÐ¼ÑÑ Ð´Ð»Ñ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÑ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼. Ð¦ÐµÐ»ÑÑ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð±ÑÐ»Ð¾ Ð²ÑÑÐ²Ð»ÐµÐ½Ð¸Ðµ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ² Ð¸ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð¸Ð¹ ÐºÐ°Ð¶Ð´Ð¾Ð³Ð¾ Ð¼ÐµÑÐ¾Ð´Ð° Ñ ÑÑÐµÑÐ¾Ð¼ Ð¸Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½Ð¸Ð¼Ð¾ÑÑÐ¸ Ð² Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÑ ÑÐ¸ÑÑÐµÐ¼Ð°Ñ. Ð ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð±ÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÑÐ°Ð´Ð¸ÑÐ¸Ð¾Ð½Ð½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸, ÑÐ°ÐºÐ¸Ðµ ÐºÐ°Ðº Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð½ÑÐµ Ð½Ð° Ð¾Ð´Ð¾Ð¼ÐµÑÑÐ¸Ð¸, Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¸ Ð³Ð»Ð¾Ð±Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ (GPS), Ð° ÑÐ°ÐºÐ¶Ðµ Ð±Ð¾Ð»ÐµÐµ ÑÐ¾Ð²ÑÐµÐ¼ÐµÐ½Ð½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ, Ð²ÐºÐ»ÑÑÐ°Ñ Ð¾Ð´Ð½Ð¾Ð²ÑÐµÐ¼ÐµÐ½Ð½Ð¾Ðµ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÐºÐ°ÑÑÑ Ð¸ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð³Ð¾ Ð·ÑÐµÐ½Ð¸Ñ. ÐÑÐ»Ð¸ Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¸ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð¸Ñ ÐºÐ°Ð¶Ð´Ð¾Ð³Ð¾ Ð¼ÐµÑÐ¾Ð´Ð° Ñ ÑÑÐµÑÐ¾Ð¼ ÑÐ°ÐºÐ¸Ñ ÑÐ°ÐºÑÐ¾ÑÐ¾Ð², ÐºÐ°Ðº ÑÐ¾ÑÐ½Ð¾ÑÑÑ, Ð½Ð°Ð´ÐµÐ¶Ð½Ð¾ÑÑÑ Ð¸ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑ ÑÐ°Ð±Ð¾ÑÑ Ð² ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¼ Ð²ÑÐµÐ¼ÐµÐ½Ð¸. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸Ð½ÑÐµÑÑÐµÐ¹ÑÐ°, Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð½Ð° ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð¼ Ð·ÑÐµÐ½Ð¸Ð¸, Ð´Ð»Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð¹ ÑÐµÐ»ÐµÐ¶ÐºÐ¸ ÑÐ¾Ð¶Ðµ Ð±ÑÐ»Ð° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð² ÑÐ¾Ð´Ðµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ. Ð Ð¿ÑÐ¾ÑÐµÑÑÐµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð±ÑÐ»Ð¸ ÑÐ¾Ð·Ð´Ð°Ð½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ ÑÑÐµÐ½Ð°ÑÐ¸Ð¸ ÑÑÐ¾Ð±Ñ Ð¾ÑÐµÐ½Ð¸ÑÑ ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÑ ÑÐµÐ»ÐµÐ¶ÐºÐ¸ ÑÐ°ÑÐ¿Ð¾Ð·Ð½Ð°Ð²Ð°ÑÑ Ð¸ Ð¿ÑÐµÐ¾Ð´Ð¾Ð»ÐµÐ²Ð°ÑÑ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ñ, Ð¸ Ð¿ÑÐ¸Ð½Ð¸Ð¼Ð°ÑÑ ÑÐµÑÐµÐ½Ð¸Ñ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½Ð¾Ð¹ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¸. ÐÐ»ÑÑÐµÐ²ÑÐ¼Ð¸ Ð¼ÐµÑÑÐ¸ÐºÐ°Ð¼Ð¸ Ð´Ð»Ñ Ð¾ÑÐµÐ½ÐºÐ¸ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÐµÐ»ÑÐ½Ð¾ÑÑÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ Ð±ÑÐ»Ð¸ ÑÐ¾ÑÐ½Ð¾ÑÑÑ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ, ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ð¹ Ð¸ ÑÐºÐ¾ÑÐ¾ÑÑÑ Ð¿ÑÐ¸Ð½ÑÑÐ¸Ñ ÑÐµÑÐµÐ½Ð¸Ð¹ Ð² ÑÐµÐ¶Ð¸Ð¼Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸.
description: In this dissertation, an analysis of various navigation methods used for robotic transport platforms was carried out. The purpose of the analysis was to identify the advantages and limitations of each method, considering their applicability in automated transport systems. The study looked at traditional navigation methods, such as those based on odometry, inertial navigation and the global positioning system (GPS), as well as more modern methods, including simultaneous position detection and map construction and navigation based on computer vision. The advantages and limitations of each method were analyzed, considering factors such as accuracy, reliability, and real-time capability. The development of a vision-based interface for an automated transport cart was also carried out during this study. Through the course of this work, various scenarios were created to assess the ability of the cart to recognize and overcome obstacles and make decisions based on visual information. The key metrics for evaluating the performance of the system were the accuracy of positioning, the efficiency of obstacle detection, and the speed of real-time decision-making.