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.

Keywords: navigation, identification, fuzzy Delaunay triangulation, information space scene, traffic control, adaptation to fuzzy sets, self-acting mobile objects, attributes of form, ground surface objects.
For citation:

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.

Issue number: 2
Year: 2021
Page number: 87-98
ISBN: 0236-1493
UDK: 004.82+622
DOI: 10.25018/0236-1493-2021-2-0-87-98
Article receipt date: 13.05.2020
Date of review receipt: 15.09.2020
Date of the editorial board′s decision on the article′s publishing: 10.01.2021
About authors:

S.O. Kramarov1, Dr. Sci. (Phys. Mathem.), Professor, Chief Researcher, e-mail:,
O.Yu. Mityasova1, Member of the Temporary Research Team,
I.O. Temkin, Dr. Sci. (Eng.), Assistant Professor, Head of Chair, e-mail:, National University of Science and Technology «MISiS», 119049, Moscow, Russia,
V.V. Khramov, Cand. Sci. (Eng.), Assistant Professor, Leading Researcher, e-mail:, 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.


For contacts:

O.Yu. Mityasova, e-mail:



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