Development of an Autonomous Driving and Mapping System for the ROIN-RTS-100 Robot

The task of controlling a robot in rough terrain in condition of a large distance between the operator and the robot is usually complicated by interference of the control signal and communication problems. Overall, situations of complete loss of communication are not excluded. In this case, the robot's behavior may be unpredictable and lead to an accident and breakdown. To avoid such scenarios it is desirable to have the functionality of autonomous decision-making by the robot based on the state of the environment, which the robot can perceive from sensors and cameras installed on board. This work provides an example of the development of such functionality, the purpose of which is in case of loss of communication with the operator to provide the ability for the robot to continue moving in the opposite direction in autonomous mode, with the purpose of either returning to the point where the signal was still available, or returning to the starting point of the movement.

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