МЕТОДИ ТА АЛГОРИТМИ ПОБУДОВИ МАТЕМАТИЧНОЇ 3D-МОДЕЛІ НАВКОЛИШНЬОГО ПРОСТОРУ ДЛЯ АВТОМАТИЧНОЇ ЛОКАЛІЗАЦІЇ МОБІЛЬНОГО ОБ’ЄКТА

Context. The task of automating the positioning of a mobile object in a closed space under the condition of its partial or complete autonomy is considered. The object of study is the process of automatic construction of a 3D model of the surrounding space.Objective. The goal of the work is the develop an algorithm for creating a 3D model of the surrounding space for furtherlocalization of a mobile object in conditions of its partial or complete autonomy.Method. The results of the study of the problem of localization of a mobile object in space in real time are presented. The results of the analysis of existing methods and algorithms for creating mathematical models of the surrounding space are presented. Algorithms that are widely used to solve the problem of localization of a mobile object in space are described. A wide range of methods for constructing a mathematical model of the surrounding space has been researched – from methods that use the comparison of successive point clouds of the object of the surrounding space to methods that use a series of snapshots of characteristic points and comparison of information about them in different snapshots at points that are as similar as possible according to the parameter vector.Results. The method for three-stage construction of a 3D model of the surrounding space is proposed for solving the problem of localization of a mobile object in a closed space.Conclusions. The conducted experiments have confirmed the possibility of the proposed algorithm for three-stage constructionof a mathematical model of the environment to determine the position of a mobile object in space. The methods used in the algorithm allow obtaining information about the surrounding space, which allows localizing a mobile object in a closed space. Prospects for further research may lie in the integration of information flows about the position of the object from different devices, depending on the type of data acquisition, into a centralized information base for solving a wide range of tasks performed by automatic mobile objects (robots).