Network failure detection and autonomous return algorithms for a crawler mobile robot navigation

被引：10
|
作者：
Alishev, Neil [1 ]
Lavrenov, Roman [1 ]
Hsia, Kuo-Hsien [2 ]
Su, Kuo-Lan [3 ]
Magid, Evgeni [1 ]
机构：
[1] Kazan Fed Univ, Intelligent Robot Syst Lab, Kazan, Russia
[2] Far East Univ, Dept Elect Engn, Tainan, Taiwan
[3] Natl Yunlin Univ Sci & Technol, Dept Elect Engn, Touliu, Yunlin, Taiwan
来源：
2018 11TH INTERNATIONAL CONFERENCE ON DEVELOPMENTS IN ESYSTEMS ENGINEERING (DESE 2018) | 2018年
关键词：
Ground mobile robot; algorithm; autonomous return; network failure detection; path planning; ROS; CONNECTIVITY;
D O I：
10.1109/DeSE.2018.00040
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper we present an algorithm for a mobile robot autonomous return. The algorithm involves a network failure detection module, which is based on analysis of incoming UDP packets. Simultaneous Localization and Mapping (SLAM) and path planning algorithms were used as an integral part of the autonomous return algorithm. The algorithms were integrated into Russian mobile robot Servosila Engineer, and experiments were conducted in order to determine the best configuration of the algorithm parameters.
引用
收藏
页码：169 / 174
页数：6
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