履带式移动机器人导航的网络故障检测与自主返回算法

2018 11th International Conference on Developments in eSystems Engineering (DeSE) Pub Date : 2018-09-01 DOI:10.1109/DeSE.2018.00040

Neil Alishev, Roman Lavrenov, K. Hsia, K. Su, E. Magid

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引用次数: 13

摘要

本文提出了一种移动机器人自主返回的算法。该算法包括网络故障检测模块，该模块基于对传入UDP报文的分析。同时定位与映射(SLAM)和路径规划算法作为自主返回算法的组成部分。将算法集成到俄罗斯移动机器人Servosila Engineer中，并进行了实验，以确定算法参数的最佳配置。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Network Failure Detection and Autonomous Return Algorithms for a Crawler Mobile Robot Navigation

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.

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2018 11th International Conference on Developments in eSystems Engineering (DeSE)

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