Mathematical and Algorithmic Model for Local Navigation of Mobile Platform and UAV Using Radio Beacons
Robots are used to solve routine, monotonous, difficult and dangerous tasks; therefore, agriculture is one of the largest spheres for using robotic systems. One of the main problems faced by developers of autonomous robotic systems is the navigation of the robot in space. This paper presents a solution to the problem of navigation, based on the maintenance of a constant radio signal between the UAV or mobile platform and control system. Radio communication is maintained by building a mesh network based on LoRa data transmission technology modules throughout the entire path of the robot. Navigation system is a mesh network based on the radio beacon. Three methods for determining the coordinates of additional module location were considered. These methods are intended for organizing mush network from modules that are not connected to each other. Analysis of considered methods was presented. Methods are not designed for arbitrary movement of robotic systems. Each of the presented methods has its advantages and disadvantages, the first two methods have the main advantage being the smallest number of modules used to connect all radio modules to the network, but with a decrease in the number of modules there is a problem of reducing system reliability. The third method solves this problem by clustering and can withstand the failure of a large number of additional modules, and the system itself becomes more like a mesh network.
KeywordsRobot navigation LoRa Radio communication Mesh network
The present research was partially supported by project No. RFBR 18-58-76001 ERA_a.
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