Network Failure Detection and Autonomous Return Algorithms for a Crawler Mobile Robot Navigation

In this paper we present an algorithm for a mobile robot autonomous return. The algorithm involves a network failure detection module, which is based on analysis of incoming UDP packets. Simultaneous Localization and Mapping (SLAM) and path planning algorithms were used as an integral part of the autonomous return algorithm. The algorithms were integrated into Russian mobile robot Servosila Engineer, and experiments were conducted in order to determine the best configuration of the algorithm parameters.