For neural network algorithms to work successfully when processing 3D point clouds, it is necessary to provide a detailed point cloud of the external environment. A similar task arises when a manipulative robot is operating in a new environment, where before processing a cloud of scene points, it is necessary to obtain a detailed representation of the external environment using an RGB-D camera mounted on the end link of the robot. To solve this problem, this study proposes an algorithm for adaptive control of a manipulative robot to build a model of the external environment. By applying an adaptive approach, during the research of the external environment, the manipulative robot moves the RGB-D camera, taking into account the changes in the current environment model introduced by the previous RGB-D image. The results obtained allow us to judge the effectiveness of the proposed approach, showing that due to adaptability, it allows us to achieve high scene coverage rates.

Keywords: environment model, manipulative robot, adaptive control algorithm, surface reconstruction, RGB-D camera, visual information processing, TSDF volume