Approach to implementation of local navigation of mobile robotic systems in agriculture with the aid of radio modules

摘要

In this paper an approach is presented, enabling to solve the problem of local navigation of mobile robotic platforms (MRP), based on utilization of wireless networks with mesh topology. Establishment of wireless networks was ensured, based on the set of radio modules, mounted on unmanned aerial vehicles (UAV), comprising a swarm. This paper presents a developed algorithm for establishment of such wireless networks, aided by LoRa-technology, as well as an algorithm for MRP localization, based on analysis of signal level, where the incoming signals are fed from MRP group radio modules to radio modules of wireless data transfer network. An algorithmic model is given for task distribution among UAV and to implement navigational capabilities of MRP swarm. In some experiments descending dependencies of absolute error value, pertinent to MRP, from the number of UAV in action were revealed, as well as of averaged deflection value of MRP positions in motion along their paths from the number of UAV in action. Thereby the averaged value of MRP localization error, depending on the number of UAV in action, was from 8.14 to 17.13 m, and the averaged value of MRP position deflection - from 16.38 to 57.12 m, respectively.