title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÑÐ¸ÑÑÐ¾Ð²ÑÑ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð¿ÑÐ¸ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ð¸ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¹ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³Ð° Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±Ð¾Ð¶Ð¸Ð²Ð¾ÑÐ½ÑÑ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Research of methods for constructing digital models of objects which perform monitoring operations using robo-animals
Creators: name: ÐÐµÑÑÐ¾Ð², ÐÐ½Ð´ÑÐµÐ¹
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: 2022
Subjects: ÑÐ¾Ð±Ð¾-Ð¶Ð¸Ð²Ð¾ÑÐ½ÑÐµ
ÐºÐ²Ð°Ð´ÑÐ¾Ð¿Ð¾Ð´
Ð»Ð¸Ð´Ð°Ñ
slam
ÑÐ¸ÑÑÐ¾Ð²ÑÐµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸
Ð¸Ð½Ñ
Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð°Ñ ÑÑÐµÐ´Ð°
robo-animals
quadruped
lidar
digital terrain models
imu
virtual environment

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: "ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÑÐ¸ÑÑÐ¾Ð²ÑÑ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð¿ÑÐ¸ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ð¸ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¹ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³Ð° Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±Ð¾-Ð¶Ð¸Ð²Ð¾ÑÐ½ÑÑ". ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÑÐµÑÐ¼ÐµÑÐ½Ð¾Ð³Ð¾ Ð»Ð¸Ð´Ð°ÑÐ½Ð¾Ð³Ð¾Â  SLAM, Ð¸Ñ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ð¸ Ð°Ð½Ð°Ð»Ð¸Ð·Ñ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐ¸ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð½Ð° ÑÐ¾Ð±Ð¾-Ð¶Ð¸Ð²Ð¾ÑÐ½Ð¾Ð¼. Ð Ð¾Ð±Ð¾-Ð¶Ð¸Ð²Ð¾ÑÐ½ÑÐµ Ð¿ÑÐ¸Ð·Ð²Ð°Ð½Ñ Ð·Ð°Ð¼ÐµÐ½Ð¸ÑÑ ÑÐµÐ»Ð¾Ð²ÐµÑÐµÑÐºÐ¸Ð¹ ÑÑÑÐ´ Ð² Ð¾Ð¿Ð°ÑÐ½ÑÑ Ð¸ ÑÑÑÐ´Ð½Ð¾Ð´Ð¾ÑÑÑÐ¿Ð½ÑÑ Ð¼ÐµÑÑÐ°Ñ. Ð ÑÐ°Ð¼ÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÑ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ°ÑÐ¿ÑÐ¾ÑÑÑÐ°Ð½ÐµÐ½Ð½ÑÐµ Ð¿ÑÐ¾ÐµÐºÑÑ ÑÐ¾Ð±Ð¾-Ð¶Ð¸Ð²Ð¾ÑÐ½ÑÑ, Ð´Ð°ÑÑÐ¸ÐºÐ¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÐ¼ÑÐµ Ð´Ð»Ñ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÑÐ¸ÑÑÐ¾Ð²ÑÑ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð¸ ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ñ Ð¿ÑÑÐ¸, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¿Ð¾Ð¿ÑÐ»ÑÑÐ½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ ÑÑÐµÑÐ¼ÐµÑÐ½Ð¾Ð³Ð¾ Ð»Ð¸Ð´Ð°ÑÐ½Ð¾Ð³Ð¾ SLAM. ÐÐ»Ñ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÐµÐ½ÐºÐ¸ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð½Ð° ÑÐ¾Ð±Ð¾ÑÐµ Ð²ÑÐ±ÑÐ°Ð½Ñ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿Ð¾Ð´ÑÐ¾Ð´ÑÑÐ¸Ðµ Ð´Ð°ÑÑÐ¸ÐºÐ¸ Ð¸ Ð¼ÐµÑÐ¾Ð´Ñ SLAM.ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸Ð»Ð¾ÑÑ Ð² Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÑÐµÐ´Ðµ, Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²ÑÑÑÐµÐ¹ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¼Ñ Ð¼Ð¸ÑÑ, Ð¿Ð¾ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÐ¼ ÑÑÐµÐ½Ð°ÑÐ¸ÑÐ¼. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð²ÑÐ±ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÐºÑÐ¸ÑÐµÑÐ¸Ñ Ð±ÑÐ»Ð¸ Ð¾ÑÐµÐ½ÐµÐ½Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð¸ Ð²ÑÐ±ÑÐ°Ð½ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿Ð¾Ð´ÑÐ¾Ð´ÑÑÐ¸Ð¹ Ð¼ÐµÑÐ¾Ð´ SLAM Ð´Ð»Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð½Ð° ÑÐ¾Ð±Ð¾-Ð¶Ð¸Ð²Ð¾ÑÐ½Ð¾Ð¼. ÐÐ»Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¼ÐµÑÐ¾Ð´Ð° SLAM Ð½Ð° ÑÐ¾Ð±Ð¾-Ð¶Ð¸Ð²Ð¾ÑÐ½Ð¾Ð¼ Ð² ÑÐµÐ°Ð»ÑÐ½ÑÑ Ð·Ð°Ð´Ð°ÑÐ°Ñ, Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼Ð¾ Ð¿ÑÐ¾Ð¸Ð·Ð²ÐµÑÑÐ¸ Ð´Ð¾Ð¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½ÑÐµ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐµ Ð² ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐµ Ð¸ Ð½Ð° ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¼ ÑÐ¾Ð±Ð¾ÑÐµ.
description: The subject of the graduate qualification work is "Research of methods for constructing digital models of objects which perform monitoring operations using robo-animals". This work is devoted to the study of three-dimensional lidar SLAM methods, their comparison and analysis of the possibility to use these methods on a robo-animal. Robo-animals are designed to replace human in dangerous and hard-to-reach places. Within the framework of the study are considered some projects of robo-animals, sensors used to build digital terrain models and path calculating, as well as popular methods of three-dimensional lidar SLAM. The most suitable sensors and SLAM methods have been selected for comparison and evaluation of the application on the robot. The study was conducted in a virtual environment that best corresponds to the real world, according to the developed scenarios. Based on the selected criterion, the results of the experiments were evaluated and the most suitable SLAM method for use on a robot animal was selected. To apply this SLAM method on a robot animal in real tasks, it is necessary to perform more in-depth tests in simulation and on a real robot.