ABSTRACT
The mass application of mobile robots (MR) in many branches of industry, medicine, and the military characterizes the modern period of engineering and technology development [Siciliano et al. 2016, Basset et al. 2014, Taha et al. 2018]. Mobile robots achieve the required quality of solving applied tasks while achieving a given navigation accuracy. Thus, when using the field of terrain elevations, the work of an autonomous navigation system of MR, equipped with a correlation-extreme navigation system (CENS), consists of the following. Onboard the aircraft (mobile robot) indirectly compares the measured terrain elevation at a specific trajectory point with its reference value. The result of the comparison in the onboard calculator is the value of the target function. It shows the correlation between the measured and the reference values. Naturally, the extremum is the desired solution to the navigation problem, which will be shown in further studies. However, there are certain limitations concerning the implementation of CENS [Lindner et al. 2016, Lindner et al. 2017, Hornung et al. 2013, Kostyashkin et al. 2013, Loginov et al. 2015].
