Environments Diagnosis by Means of Computer Vision System of Autonomous Flying Robots

摘要

In this chapter, the authors present an approach to the extrinsic environs diagnostics based on using visual information collected by autonomous robots. The possibility of utilizing a computer vision for the purpose of rational control implementation in the condition of the full or partial uncertainty is investigated. In the study, the combined hardware and software computer vision tools were verified. The models, algorithms, and codes for solving the local tasks of obstacle identification and mutual location kinematic parameters estimation have been developed. A series of computational and in-kind experiments that illustrate a practical possibility of implementing the navigational environment diagnosis is carried out with the aim to select a rational flight path.