Intelligent processing tools for robotic systems

Authors

DOI:

https://doi.org/10.31649/1681-7893-2026-51-1-57-67

Keywords:

analysis, correlation, object classification, robotic system, autonomy

Abstract

This article focuses on investigating the characteristics of basic navigation data processing procedures for the autonomous control of robotic systems. The article examines procedures such as the analysis and classification of environmental objects for a mobile robot with a focus on autonomous control, specifically on the implementation of its properties such as autonomy, adaptability, and mobility. A necessary condition here is compliance with key performance indicators such as compactness of hardware implementation, reliability in challenging conditions, and protection against unauthorized software interference.  To detect reference objects and determine their locations, this work analyzes the features of matrix correlation image processing. This approach allows for the detection of reference images within the field of view of the current image, as well as the determination of their centers, followed by focusing of the mobile robot’s visual system. Classification of the detected objects by the mobile robot’s navigation system is necessary for making specific decisions regarding its subsequent actions, in particular, to avoid existing obstacles. This paper proposes using a neural-like classifier based on linear discriminant functions as an object classifier. A distinctive feature of this approach is the ability to employ an alternative sorting method in the classifier’s competitive layer, which implements the WTA (Winner Takes All) competition model. The regularity of the structure of the considered intellectually processed data for mobile robots allows for a compact implementation in a FPGA chips.

Author Biographies

A.V. Kozhemiako, Vinnytsia National Technical University

Кандидат технічних наук, доцент кафедри обчислювальної техніки

L.V. Krupelnitskyi, Vinnytsia National Technical University

Кандидат технічних наук, доцент кафедри обчислювальної техніки

O.V. Voitsehovska, Vinnytsia National Technical University

Кандидат технічних наук, доцент кафедри обчислювальної техніки

I.V. Bulyha, Vinnytsia National Technical University

Аспірант кафедри обчислювальної техніки

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Published

2026-06-18

How to Cite

[1]
A. Kozhemiako, L. Krupelnitskyi, O. Voitsehovska, and I. Bulyha, “Intelligent processing tools for robotic systems”, Опт-ел. інф-енерг. техн., vol. 51, no. 1, pp. 57–67, Jun. 2026.

Issue

Vol. 51 No. 1 (2026)

Section

OptoElectronic/Digital Methods and Systems for Image/Signal Processing

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