Architecture and algorithms of geospatial service for navigation of robotic complexes

Abstract

This paper considers the problems of robotic device navigation for performing various agricultural tasks. The proposed approach for map building ensures automated establishment of 3D terrain models, based on snapshots, taken from unmanned aerial vehicles. The presented method of route planning employs such 3D models effectively enough. The techniques of edge weight calculation facilitate selection of the smoothest areas for route planning, therefore, reducing energy consumption. The suggested software architecture relies on a service bus for data transfer. This solution reduces the dependence of software modules, enables integration of heterogeneous data sources and allows controlling data flows and system processes more efficiently. Decent usability of the developed systems is achieved by means of cross-platform implementation of the front-end application.