AN INTEGRATED APPROACH TO THE FORMATION OF THE RTK EXTERNAL ENVIRONMENT MODEL
The complex problem of classification of the maneuvering zone according to the criteria of geometric and reference cross-country ability, taking into account the characteristics of the propulsion system, the geometry of the terrain and the supporting properties of the ground, is considered. The existing methods and algorithms are described, as well as the results of experimental studies to solve the following main problems of this problem: classification of the maneuvering zone according to the criterion of geometric patency according to the data of the on-board vision system based on a 3D laser sensor; recognition of soil types according to the data of the integrated technical vision system, consisting of a mutually adjusted 3D laser sensor, a color video camera and a thermal imager with a common viewing area; using the neural network apparatus to increase the reliability of soil type recognition; determination of the reference characteristics of the soil by measuring the reactions of the propellant during movement. Promising directions for further research in terms of combining tactile and visual information to improve the reliability of the classification of maneuvering zone sections according to the complex criterion of geometric and reference cross-country ability are formulated.