Network Failure Detection and Autonomous Return for PMB-2 Mobile Robot

摘要

In real world teleoperated tasks a robot connection with its operator is not always stable, so it is important to increase the robot autonomy. This paper focuses on increasing robot autonomy through autonomous return and charging station docking in a case of connection loss. We integrated the algorithm into real robot control system or PAL Robotics PMB-2 robot and experimentally demonstrated its good efficiency. The algorithm analyzes network failure through incoming TCP/IP packets, uses Simultaneous Localization and Mapping (SLAM) and path planning algorithms for autonomous return, and dock station plugin for the robot docking and recharging, which continues until the connection to teleoperator station is restored.