ABSTRACT
Autonomous mobile robots (AMR) have been used recently in various fields of human activity, especially in areas related to security and military operations. Robots can perform multiple functions in the air, water, and earth, but this chapter mainly deals with ground robots that independently perform their assigned tasks to them. In many situations, the capabilities of the global positioning system are not effective [Nilwong et al. 2019] and may be suppressed by interference. Overlapping visibility, equipment failure and other reasons lead to a significant decrease in the effectiveness of GPS. Hence, there is a need to use AMR. A general approach to the construction of AMR and a review of the literature is presented in [Zghair and AlAraji 2021]. To implement its plan, a robot must orient itself well in the territory and, in the absence of GPS, have one or more landmarks divided into different classes: synthetic and natural, permanent and temporary, radiating and non-radiating, used indoors and outdoors, etc. In the chapter, artificial and natural landmarks placed on arbitrary terrain outside the buildings are selected for analysis. Algorithms for processing information from different landmarks should be similar. AMR traverse unknown environment by detecting obstacles using various sensors to choose an obstacle-free path on the ground. Some separate obstacles can be used as landmarks. As a rule, space scanning is carried out by laser scanners that measure the distance to surrounding objects linked to a digital terrain map. The results of scan-matching navigation are similar to a digital image. Sometimes digital terrain maps may not be available or may not correspond to reality, for example, due to man-made disasters in the area or military operations that lead to the destruction of objects on the terrain. In such situations, many dangerous jobs can be given to robots. A robot without GPS and a digital map of the area must find a local landmark and calculate its coordinates from it. On the steppe terrain, landmarks concentrated in space are easily detected by laser scanners and other emitting devices (radar, sonar, etc.). If there are buildings, trees, etc., behind and near the landmark, its detection is a difficult problem. In this case, passive detection means are preferred, in particular, systems based on color features.
