The Creation of the Database for Mobile Robots Navigation under the Conditions of Flexible Change of Flight Assignment

The necessity to find a rational way of creating a database regarding the sighting surface taking into consideration the features of construction and functioning of correlation-extreme navigation systems (CENS) of aerial mobile robots (MR), including in particular the conditions of flexible change of flight assignment, is shown in the article. It is proposed to use invariants, which have been obtained based on a correlation analysis of the scene according to the brightness index with the subsequent and allowing to form selective images, as a database information content. The results of the evaluation of the quality of formed selective reference image (RI) for scenes with various object impletion under conditions of limitations in time and number of calculations are given