YO’L QURILISH MASHINALARINING AVTONOM BOSHQARUV TIZIMLARIDA SENSORLI MA’LUMOTLARNI INTEGRATSIYALASH VA TRAYEKTORIYANI OPTIMALLASHTIRISH ALGORITMLARI
Keywords:
Avtonom yo‘l qurilish mashinalari, sensorlar integratsiyasi, LiDAR, Kalman filtri, trayektoriyani optimallashtirish, dinamik muhit, mashinali o‘qitish, intellektual boshqaruv.Abstract
Ushbu maqolada yo‘l qurilish mashinalarining avtonom boshqaruv tizimlarida ko‘p datchikli ma’lumotlarni integratsiyalash (Sensor Fusion) va harakat trayektoriyasini optimallashtirish masalalari tadqiq etiladi. Tadqiqotning asosiy maqsadi qurilish maydonchasining dinamik va noaniq muhitida mashinalarning aniq pozitsiyalanishi hamda energiya samaradorligini ta’minlovchi algoritmlarni ishlab chiqishdir. Maqolada LiDAR, radar va vizual sensorlar ma’lumotlarini Kalman filtri hamda neyron tarmoqlari yordamida birlashtirish usullari tahlil qilingan. Shuningdek, murakkab relyef sharoitida to‘siqlardan qochish va optimal yo‘nalishni hisoblash uchun variatsion hisoblash usullariga asoslangan trayektoriya optimallashtirish modellari taklif etilgan. Olingan natijalar avtonom tizimlarning qaror qabul qilish tezligi va texnologik jarayonlar aniqligini sezilarli darajada oshirishga xizmat qiladi.
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