Determination of Landmarks by Mobile Robot's Vision System Based on Detecting Abrupt Changes of Echo Signals Parameters

Abstract

The method of determining the landmarks for a mobile robot based on detection of abrupt changes in the energy characteristics of echo signals from the landmarks is proposed in the report. The noise and electromagnetic waves reflection from the environment are taken into account in synthesis of the optimal system for detecting and estimating the jumps of the echo signals amplitude. The solutions of the system of stochastic differential equations are the probability of detecting the jump of the echo signal amplitude from the landmark, the amplitude jump value itself and its variance. The appropriate conditions for detecting the jump of the echo signal amplitude are established and the recommendations for identification of the landmarks in the form of metal pillars have been developed.