Method of Formation of Quantitative Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots

Figure 1

Illustration of CVS scanning the environment as a 3D lidar: OY₁—АМR longitudinal axis; ОY₂—АМR transverse axis; P₁—obstacle point; d_p11 and d_p12—lengths of perpendiculars from the obstacle to the axes ОY₁ and ОY₃; d_p1—distance to the point Р₁.