Delaunay triangulation-based methodology of intelligent navigation and control of mobile objects

The article proposes a new method for detection and identification of objects on ground surface for navigation of mining and transportation facilities, in the aggregate and individually. The navigation method for self-acting mobile objects is based on identification of objects within an information space scene (ISC) with regard to its context in the system of robot vision. The stages and a case-study of automatic identification of objects in images are presented. Technically, the result of this investigation is the improved accuracy and reliability of the mobile object positioning in ISS using local coordinates in the systems of robot vision. This effect is achieved through addition of the standard normalization procedures with fuzzy clustering of spatial data based on Delaunay triangulation to be compared with fuzzy Delaunay triangulation of an ISS of concern. The comparison involves the attribute analysis of forms obtained in spatial fuzzy clustering based on standard Delaunay triangulation within the test ISS of the ground surface objects and in fuzzy Delaunay triangulation of the vector model of ISS of the obtained image.

Kramarov S. O., Mityasova O.Yu., Temkin I. O., Khramov V. V. Delaunay triangulation-based methodology of intelligent navigation and control of mobile objects. MIAB. Mining Inf. Anal. Bull. 2021;(2):87-98. [In Russ]. DOI: 10.25018/0236-1493-2021-2-0-87-98.

The study was supported by the Russian Science Foundation, Project No. 19-17-00184.

S.O. Kramarov¹, Dr. Sci. (Phys. Mathem.), Professor, Chief Researcher, e-mail: maoovo@yandex.ru,
O.Yu. Mityasova¹, Member of the Temporary Research Team,
I.O. Temkin, Dr. Sci. (Eng.), Assistant Professor, Head of Chair, e-mail: temkin.io@misis.ru, National University of Science and Technology «MISiS», 119049, Moscow, Russia,
V.V. Khramov, Cand. Sci. (Eng.), Assistant Professor, Leading Researcher, e-mail: vxpamov@inbox.ru, Southern University (Institute of Management, Business and Law), Rostov-on-Don, 344068, Russia,
¹ Surgut State University (SurSU), Scientific and Educational Center, 628412, Surgut, Khanty-Mansiysk Autonomous Okrug–Ugra, Russia.

O.Yu. Mityasova, e-mail: moyapocta2012@yandex.ru.

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