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


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.
Palavras-chave: Measurement, Interpolation, Conferences, Education, Path planning, Space exploration, Robots, Communication, Mapping, Navigation
CID, André Luiz Maciel; SATHLER, Maurício Souza; DELUNARDO, Mário; DOMINGUES, Jacó; PESSIN, Gustavo; AZPÚRUAL, Héctor; FREITAS, Gustavo. Path planning for ground robots based on radio signal strength. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 19. , 2022, São Bernardo do Campo/SP. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2022 . p. 151-156.