WHEELED ROBOT AUTONOMOUS RETURN SYSTEM AT REMOTE OPERATOR COMMUNICATION BLACKOUT
Abstract
This work is dedicated to increasing mobile robots autonomy in cases of connection loss with a remote operator. As a number of mobile applications increases, the importance of this task is grow-ing. A reliable way is required to save a robot in cases of communication blackout while operating in a hazardous environment, for example, during a search and rescue operation. Communication blackout means the immediate loss of a robot if it is employed in a dangerous to humans environ-ment. Communication blackouts occur because of communication technologies imperfection, sudden changes in the environment or a human factor. This problem can occur with both wired and wireless communications between an operator and a robot. Therefore, a robot must be able to operate auton-omously in cases operator direct control is lost. A robot must be capable to detect a communication loss with an operator and return to its starting point of a path without human intervention. In this paper, we present developed algorithms for automatic detection of a network connection blackout and autonomous return of the robot. Unlike existing solutions, the developed algorithm does not re-quire additional equipment or software on the operator's side. The robot’s network connection blackout detection algorithm uses TCP / IP packet analysis, which makes it universal for robots con-trolled over Wi-Fi networks. Simultaneous localization and mapping (SLAM) methods and path planning algorithms are used for autonomous robot return. In the autonomous return mode, the robot relies on sensory data collected during movement under the operator control. The algorithms were integrated into the control system of a real wheeled robot PMB-2 and tested in laboratory conditions, which experimentally confirmed their effectiveness and practical applicability.
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