Object Recognition Method Based on Their Signal-Geometric Signs through a Robotic Security Complex

This article considers a methodological approach to recognize the intrusion of objects into a protected area using an optoelectronic robotic complex, which is based on the existence of a certain characteristic space (a set of signal and geometric features) for each class and type of object. The solved problem of comparing Bayesian a posteriori probabilities of classes (types) of objects is reduced to calculating a priori probabilities and energy distribution functions of signals and geometric parameters of objects, i.e., the likelihood functions of a feature for a specific class (type) of an object. Based on the obtained parameters, the dependences of the probability of correct recognition, omission, false recognition, and confusion of objects on the coefficient of distinctness when the object’s signal energy deviates from the standard energy are analyzed. The results obtained are required to solve the problem of the adaptive group control of robotic complexes when solving operational and tactical and tasks in an uncertain dynamic environment.