Path planning for ground robots based on radio signal strength

• André Luiz Maciel Cid UFOP / Instituto Tecnológico Vale
• Maurício Souza Sathler UFOP / Instituto Tecnológico Vale
• Mário Delunardo Instituto Tecnológico Vale
• Jacó Domingues UFOP / Instituto Tecnológico Vale
• Gustavo Pessin UFOP / Instituto Tecnológico Vale
• Héctor Azpúrual Instituto Tecnológico Vale
• Gustavo Freitas UFOP / Instituto Tecnológico Vale / UFMG

Abstract

Communication is one of the most critical areas in robot operations, especially in environments unsuitable for humans, such as confined spaces. Maintaining a constant connection between robot and base ensures that these operations go as expected, reducing the risk of accidents, damage, and the need to rescue the robot. Thus, this paper proposes a path planner that ensures that the robot travels only through locations with the best radio signal. For this, we construct a graph using the information from the fusion of a radio signal map and an occupancy grid map. We then use bidirectional Dijkstra's algorithm to compare two paths computed using different metrics: one associated with a shorter distance and another aiming for radio signal quality improvement. Finally, we present the results of tests performed in a laboratory, showing the feasibility of the path planner based on the radio signal quality.

Keywords: Measurement, Interpolation, Conferences, Education, Path planning, Space exploration, Robots, Communication, Mapping, Navigation