Retracted Article: Multilayer maps of vehicle passability as a data source for solving transport problem

Abstract

Representation of the information about the motion surface in the form of discrete maps of passability finds application in the tasks related to the control of autonomous vehicles. The technology was developed, in particular, for use on planetary vehicles. The fields of autonomous transport, transport-technological machines operating in artificial and natural environments, and chassis of mobile robots seem to be promising. The goal is to develop principles for the construction and use of multilayer maps of terrain for mobile chassis. The basic method is to represent the terrain over which the mobile platform moves as a set of cells of a discrete working field. Each cell has a size defined by the size of the chassis in question, the cell is characterized by a set of data represented as a vector. Each component of the vector is part of some surface called a layer. The map contains layers of passability, energy efficiency, etc. The routing can be done by algorithms of a group of methods related to the Lee method. The principles of constructing multilayer passability maps are proposed. A variant of the map based on hexagonal cells is proposed. The principle of constructing an optimal vehicle route which can be based on different optimization criteria has been proposed. Within the framework of the routing problem, a method for constructing a corridor for the safe passage of a vehicle is proposed. The perspectives of application of multilayer maps of passability in control tasks of transport and transport-technological platforms and group control tasks are determined. The basics of technology for preparing terrain information, the principles of using this information in solving the transport task are presented, and examples are given.