1. A model of scene observing from mobile robot, moving on rough terrain.
- Author
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Akimenko, Tatiana, Bogomolov, Alexey, Larkin, Eugene, and Privalov, Aleksandr
- Subjects
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MOBILE robots , *FOCAL planes , *IMAGE converters , *ENVIRONMENTAL monitoring , *PHOTOELECTRONS - Abstract
The common analytical model of moving the mobile robot for environmental monitoring. In the model robot is considered as trunk, mounted on two rows of viscous-elastic supports, which in turn, are actuated by bumps of the terrain road. Mechanism of trunk with installed on it TV-module longitudinal and transverse oscillation emerging is described. It is shown, how trunk oscillations are transformed into scene image moving at the TV-module lens focal plane. Dependence of image moving parameters on mechanical parameters of mobile robot, angular coordinates of TV-module installation on the trunk and autocorrelation function, describing a road, is obtained. It is shown, that in photoelectron converters of CCD-type image dynamical blurring emerging, parameters of which depend on velocity of moving image in TV-module lens focal plane and time of charge accumulation in photoelectron converter cells. So in addition to physical element, installed along optical signal path, and defining TV-module response, ones more element with specific properties exists, which narrows bandwidth of TV-module and worsen an image of the scene. The example of forming the scene image by the mobile robot, moving on a rough terrain is given. It is shown, that image dynamic worsening should be taken into account at the stage of general MR configuration design. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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