2019 8th MEDITERRANEAN CONFERENCE ON EMBEDDED COMPUTING
Navigation Method in Non-Stationary Environment
for Embedded Control System of Mobile Robots
Alexander S. Novikov1, Anna Troshina2
Department of Computer Technology
Tula State University
Tula, Russia
1
alsnovikov@yandex.ru, 2 atroshina@mail.ru
Abstract— The technique of finding the optimal paths of
movement and synchronization of moving for a scattered group
of ground mobile robots to a joint collection point located in an
area with dynamically changing environments is proposed. IoC
principles for creating a software platform for the problem under
consideration are given and the algorithm of basic
implementation of route search in terrain for the loosely coupled
architecture of the application is presented.
Keywords- swarm intelligence; mobile robot control system;
synchronization of mobile robots moving; navigation and routes
search; non-deterministic environment; IoC software platform;
graph of territory
I. INTRODUCTION
Mobile robotics is a rapidly developing province of science
and technology associated with research, development,
production and using of unmanned vehicles that carry target
equipment and operate in the air, land and sea environments.
At present, the following areas have been progressed in which
developments are being carried out on the problems of
controlling mobile robots:
1. Development of generalized control algorithms and
orientation of mobile robots depending on their class (wheeled,
tracked technological) - building a trajectory of movement,
maintaining a trajectory of movement, dynamic stabilization of
a robot, building and analyzing kinetic and dynamic models of
robots, building and analyzing an environmental model in non-
stationary and / or unknown conditions, ensuring the stability
of robots in off-road conditions [1 - 3];
2. Controlling groups of mobile robots namely maintaining
a specific configuration between individual units of a group,
distributing tasks between individual units of a group, solving
the problem of controlling "leader-followers", tracking and
repeating actions of a leader, multi-agent control systems for a
group of robots, swarm control algorithms of robots in groups
[4, 5];
3. Improvement of technical vision systems, development
and using of various types of sensors (laser rangefinders,
odometers, etc.) when controlling robots, tracking moving
objects in a moving robot-observer, solving problems of
The research was carried out within the state assignment of the Ministry
of Education and Science of Russian Federation (No 2.3121.2017/PCH).
978-1-7281-1740-9/19/$31.00 ©2019 IEEE
(MECO), 10-14 JUNE 2019, BUDVA, MONTENEGRO
integrated onboard data processing [6];
4. Improvement of software and hardware of intelligent
control systems for mobile robots, improvement of algorithms
and software for pattern recognition; designing special
calculators for solving certain specialized control problem [7];
5. Application of neural network technologies, genetic
algorithms, fuzzy logic mechanisms and approximate
reasoning to form a robot's view on its environment and
interaction of the robot with it [8].
One of the main problems arising from the development of
embedded control systems for mobile robots is the task of
synchronizing the movement of individual robots in a group
and choosing the optimal routes for their movement to meet in
a given area. The robots can initially be located in completely
different initial positions in the given area, they can possess
complete information about the terrain along which the route is
built, knowledge of the territory can be partial or the area can
represent an uncharted territory when moving on which the
robots must exchange information about their environment.
The basic knowledge used by the mobile robot control system
for navigation is information about the relief, the approximate
travel time for individual sections of the territory map, the
degree of danger to the mobile robot of a particular zone
through which the route is built. In the case when the terrain is
not known in advance, the robots must, during the movement,
conduct its reconnaissance and report its results to the other
members of the group via the communication channel. Based
on this information, the rest units of the group should adjust
their routes to achieve the goal in optimal way. The proposed
methodology for synchronizing the movement of a mobile
robots group over an unknown territory consists in combining
the following methods:
1. Method of creating and presenting a three-dimensional
terrain map for a group of intelligent mobile robots.
2. Method of formation of the best route of movement for
the robot according to certain criteria ensuring arrival at the
destination point no later than a specified time in an
environment representing a non-deterministic three-
dimensional territory.
 2019 8th MEDITERRANEAN CONFERENCE ON EMBEDDED COMPUTING (MECO), 10-14 JUNE 2019, BUDVA, MONTENEGRO

3. Software design method for implementing control for the map is converted into the intersection graph. The example of
movement of mobile robots group. such a transformation is shown in Figure 1. An intersection is a
node that is the point of crossroad of several alternative routes.
4. Method of synchronous movement of mobile robots Starting and ending points when the robot moves is also
group to the target position on the three-dimensional map with
considered an intersection.
the time constraints.
In the event of a change in state of relief, for example,
5. Method of interaction of robots in the process of the when water disappears from the ravine (see node K10 in Figure
study of uncharted territory and coordinating the time of 1) the graph is updated and only the parameters affecting the
arrival, taking into account the dynamics of changes in the state change of terrain is recalculated.
of the destination zone.
When the state of the environment is changed, the cell may
II. METHOD OF EFFECTIVE REPRESENTATION become inaccessible. In this case, the paths passing through it
OF THE TERRITORY GRAPH between intersections are no longer considered, that is, the
In order to improve computational performance and save values of the transition through the node are set to infinity, and
memory, it is necessary to use a "lazy" approach to use local the node itself is marked impassable. The reaction to a change
software objects in the mobile robot embedded control system. of node state in the direction of accessibility of movement to
In particular, special attention is given to the representation and the cell is more complicated and consists in defining new
completion of the oriented local territory graph. This is intersections. If the new cell can be reached from the nodes
important because the non-determinism of territory entails involved in the existing route, then such nodes become
frequent changes in the structure of the graph and, intersections. In this case, the time parameters for the
consequently, recalculations of the spatial nodes accessible to intersections connected by the route are recalculated. A new
the robot. Therefore, methods for adjusting the graph should be node can open up the possibility of reversing path and form a
called at time of their need or at the moments of low new efficient route that can be calculated if necessary. If a cell
computational workload of the robot processor. connects existing intersections, it becomes a regular node and
there are no additional recalculations required.
The oriented graph of the terrain is constructed from nodes
(areas of moving space) and connections characterizing the III. METHODS OF SEARCHING AND CHOOSING ROUTES
direction of the transition. Each object of the graph carries FOR MOVEMENT OF SEPARATE MOBILE ROBOTS IN GROUP
additional informational characteristics taking into account the All tasks solved by the intelligent navigation system can be
three-dimensional representation of the terrain. When divided into two large groups: search for the shortest route and
constructing a graph, the nodes unreachable for the robot search for the best route. Algorithms of the first group allow
should be cut off. For this task information on the
determining that the route from cell K1 to cell Kn exists and
characteristics of the robot, the environmental parameters and
calculating the shortest possible travel time 𝑇𝑇𝑆𝑆_𝑚𝑚𝑚𝑚𝑚𝑚 .
the method of searching the route of movement is used. For a
more compact representation, the displacement graph on the
-1 2 -30 t2 t3
K2 1 K3 -2 K4 30 К K7 K2 K3 t4
t1
8 -8 27 -27 14 -14 12 -12 t9
R1 K4 К
40 -20 15 -28 t5 t8
K6 -40 K7 20 K8 -15 K9 28 K10
t6 t7
K13 K14 K9
-20 20 10 -10 -15 15 0 0

10 5 0 Calculation
Расчет ofперемещения
длительности movements duration
до перекрестков to
K11 -10 R1 -15 K13 0 K14 intersections
-10 10 0 0 T1 T3
Searching
Поиск for
R1 K4 К
0 T2
K16 K17 intersections
перекрестков
0
Построенный граф из перекрестков
Built graph from intersections

-1 2 -30 t2 t3
K2 K3 K4 К K7 K2 K3
1 -2 30
t1 t4
-27 -14 -12
t9
8 -8 27 14 12
R1 K4 К
40 -20 15 -28 t5 t8
K6 -40 K7 20 K8 -15 K9 28 K10 t6 t7
t10
K13 K14 K9
-20 20 10 -10 -15 15 0 0
t12

10 5 0
t11
K11 R1 K13 K14 K10
-10 -15 0 T1

-10 10 0 0

0 Reaction
Реакция to a change
на изменение
R1 T2 K9
T4
K4
T3
К
состояния клетки K10
K16 0 K17 in the state of the K10 cell T5

T6
Скорректированный граф из перекрестков
Adjusted graph from intersections

Figure 1. Construction of the intersection graph

 2019 8th MEDITERRANEAN CONFERENCE ON EMBEDDED COMPUTING
Let 𝑅𝑅 be the set of valid routes 𝑅𝑅𝑖𝑖 : 𝑅𝑅 = {𝑅𝑅𝑖𝑖 }, 𝑖𝑖 = �����
1, 𝑘𝑘,
where 𝑘𝑘 is the number of routes. A route 𝑅𝑅𝑘𝑘 is called the
shortest route if, when navigating through it, the robot provides
the least time among all the time costs of permissible
alternative routes:
𝑅𝑅𝑘𝑘 = min{𝑅𝑅}.
𝑇𝑇𝑆𝑆
To find the shortest path in the proposed method of
navigation, the known algorithm 𝐴𝐴∗ with the following path
estimation function is used:
𝐹𝐹𝑇𝑇 = 𝐺𝐺𝑇𝑇 + 𝐻𝐻𝑇𝑇 ,
𝐺𝐺𝑇𝑇 = 𝑑𝑑𝑇𝑇𝑠𝑠 (𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐 , 𝐾𝐾𝑛𝑛 ) + 𝑑𝑑𝑇𝑇𝜑𝜑 (𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐 , 𝐾𝐾𝑛𝑛 ),
�𝐾𝐾𝑒𝑒𝑒𝑒𝑒𝑒_𝑋𝑋 −𝐾𝐾𝑛𝑛_𝑋𝑋 �+�𝐾𝐾𝑒𝑒𝑒𝑒𝑒𝑒_𝑌𝑌 −𝐾𝐾𝑛𝑛_𝑌𝑌 �
𝐻𝐻𝑇𝑇 =
℧𝑠𝑠𝑠𝑠
where 𝐺𝐺 𝑇𝑇 is the cost of the movement duration from 𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐 to
𝐾𝐾𝑛𝑛 ; 𝐻𝐻𝑇𝑇 is the approximate cost of the movement duration from
𝐾𝐾𝑛𝑛 to 𝐾𝐾𝑒𝑒𝑒𝑒𝑒𝑒 ; 𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐 is the current cell relative to which the path to
the target cell 𝐾𝐾𝑒𝑒𝑒𝑒𝑒𝑒 is evaluated; ℧𝑠𝑠𝑠𝑠 is the average speed of the
robot; 𝑑𝑑𝑇𝑇𝑠𝑠 is the function of calculating the movement duration
from one cell to another; 𝑑𝑑𝑇𝑇𝜑𝜑 is the function of calculating the
duration the robot turns from one cell to another.
The search for the best route is carried out according to the
intersection graph. The final number of possible routes to reach
the goal can be large, so it suffices to find two routes: route
with the shortest time (tending to 0) and the longest one
(tending to 𝑇𝑇 ± ∆𝑇𝑇). The both routes should minimize the
remaining characteristics of the route (safety, fuel
consumption, total distance, etc.):
𝐺𝐺𝑚𝑚𝑚𝑚𝑚𝑚 ({𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶}) → 𝑚𝑚𝑚𝑚𝑚𝑚,
where {𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶} is the set of significant characteristics of
the routes arranged in order of decreasing priority, for example,
{ 𝑆𝑆, 𝑂𝑂, 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑, 𝐷𝐷𝛿𝛿 , 𝑆𝑆𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 } or {𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑, 𝑂𝑂, 𝑆𝑆}; 𝑆𝑆 is path
length; 𝑂𝑂 is the cost of the main resources on the chosen path;
𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 is parameter characterizing the danger of path for
robot; 𝐷𝐷𝛿𝛿 is the magnitude of scatter of slopes of the terrain on
the selected path; 𝑆𝑆𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 is the possibility of returning the
mobile robot to the starting point from which the movement
began.
To obtain the two described best routes, it is needed to use
the algorithm 𝐴𝐴∗ , rightly choosing the heuristic functions:
𝐹𝐹𝑇𝑇1 = min(𝑇𝑇𝑠𝑠 → 0) + 𝐺𝐺𝑒𝑒𝑒𝑒𝑒𝑒 + 𝐻𝐻𝑇𝑇 ,
𝑇𝑇𝑠𝑠
𝐹𝐹𝑇𝑇2 = max(𝑇𝑇𝑠𝑠 → 𝑇𝑇 ± ∆𝑇𝑇) + 𝐺𝐺𝑒𝑒𝑒𝑒𝑒𝑒 + 𝐻𝐻𝑇𝑇 ,
𝑇𝑇𝑠𝑠
where 𝐻𝐻𝑇𝑇 is the approximate cost of the movement duration
from cell 𝐾𝐾𝑛𝑛 to cell 𝐾𝐾𝑒𝑒𝑒𝑒𝑒𝑒 ; 𝐺𝐺𝑒𝑒𝑒𝑒𝑒𝑒 is the function of minimizing
the characteristics of the route.
IV. THE MOBILE ROBOT NAVIGATION METHOD
IN PRESENCE OF UNKNOWN AREAS OF TERRITORY
The best and probably the only route to a given group
meeting position may be located in an area unknown to robot.
(MECO), 10-14 JUNE 2019, BUDVA, MONTENEGRO
In the process of moving, the sensors of a mobile robot can
explore the surrounding area, depending on their capabilities,
time of day, terrain and weather conditions. The set of 𝜀𝜀𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠
restrictions for capabilities of each robot can be known in
advance or be determined dynamically directly while
interaction with the environment. In the general case, a set of
(1) points of view 𝑃𝑃𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 is formed, defining a convex hull
𝑆𝑆ℎ𝑒𝑒𝑒𝑒𝑒𝑒𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 which contains a number of studied terrain zones.
��������������
𝐾𝐾𝑆𝑆𝑆𝑆 = �𝐾𝐾𝑛𝑛,𝑚𝑚 �, 𝑖𝑖 = 1, 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐ℎ. (8)
This shell can be constructed by any known method, for
(2) example, Graham's algorithm. The choice of the next cell to
which the robot will go is made among currently surrounding
(3)
nodes {𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐 } and the last optimal cell 𝐾𝐾𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 which may be in
the completely opposite location of the map. In order to the
, (4)
robot not to spend additional time on moving from one side of
the map to the other, a set of optimal movement factors 𝐹𝐹𝑜𝑜𝑜𝑜𝑜𝑜 is
introduced, including: 1) 𝐹𝐹(𝑡𝑡, 𝑇𝑇𝑠𝑠 ) is the function that expresses
the need to arrive at the meeting point soon, where 𝑡𝑡 is the
current time; 𝑇𝑇𝑠𝑠 is the moment of arrival at the meeting point.
The closer 𝑡𝑡 is to 𝑇𝑇𝑠𝑠 , the greater the influence on the overall
functionality is this factor; 2) 𝐺𝐺𝑒𝑒𝑒𝑒𝑒𝑒 is the function of
minimizing the characteristics of the route to the target from
each point considered; 3) 𝐻𝐻𝑇𝑇 is the approximate cost of the
movement duration from cells {𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐 } and 𝐾𝐾𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 to cell 𝐾𝐾𝑒𝑒𝑒𝑒𝑒𝑒 ; 4)
𝑇𝑇𝑝𝑝 is the duration of transition to the next optimal cell; 5) 𝑅𝑅𝑅𝑅𝑅𝑅𝑝𝑝
is the possibility of subsequent rupture of the communication
channel with group. The set of these factors forms the heuristic
function of optimal movement in unfamiliar areas:
𝐹𝐹𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 = 𝐹𝐹�𝐹𝐹 (𝑡𝑡, 𝑇𝑇𝑠𝑠 ), 𝐺𝐺𝑒𝑒𝑒𝑒𝑒𝑒 , 𝐻𝐻𝑇𝑇 , 𝑇𝑇𝑝𝑝 , 𝑅𝑅𝑅𝑅𝑅𝑅𝑝𝑝 �. (9)
(5) Information about the investigated territory can be
requested by separate unit via the shared control server or via a
local channel with the rest of robots in the group. After that, the
robots that received updated information about the terrain, is
modified their local movement graph. The delay of robot to
collection point is calculated depending on its direction of
movement. If the mobile robot moves towards the meeting
point with the minimum deflection angle, that is, when 𝛼𝛼 ≤
𝛼𝛼𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 then the delay value is calculated using the following
formula:
𝑆𝑆𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐,𝐾𝐾𝑁𝑁
𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙 = 𝑇𝑇𝑆𝑆 − 𝑡𝑡 − 𝑇𝑇𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 , 𝑇𝑇𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 = , (10)
℧𝑠𝑠𝑠𝑠
where 𝑇𝑇𝑆𝑆 is the moment of meeting of the group; 𝑡𝑡 is the
(6) current time; 𝑇𝑇𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 is the minimum possible arrival time,
𝑆𝑆𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐 ,𝐾𝐾𝑁𝑁 is the distance from the cell containing the robot 𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐
(7) to cell 𝐾𝐾𝑁𝑁 of the collection of the group; ℧𝑠𝑠𝑠𝑠 is the average
speed of the robot.
If the mobile robot moves in the direction when
𝛼𝛼 > 𝛼𝛼𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 then the delay value is calculated using the
following formulas:
𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙 = 𝑇𝑇𝑆𝑆 − 𝑡𝑡 − 𝑇𝑇𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 , (11)
𝜋𝜋∗𝑆𝑆𝐾𝐾𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 ,𝐾𝐾𝑁𝑁
𝑇𝑇𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑇𝑇𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐,𝐾𝐾𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 + , (12)
℧𝑠𝑠𝑠𝑠
 2019 8th MEDITERRANEAN CONFERENCE ON EMBEDDED COMPUTING
MapAnalizer
IMapAnalizer
RobotGroup
ITargetMap
BaseGraph RouteBuilder
Generates
IRouteBuilder
ITargetRoute
Abstract
Graph
DefaultRoute
Comparer
Figure 2. The partial UML class diagram of the software platform
where 𝑇𝑇𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 is the maximum possible arrival time to the
meeting point; 𝑇𝑇𝐾𝐾𝑐𝑐𝑐𝑐𝑐𝑐,𝐾𝐾𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 is the duration to move from the
current cell to the next one; 𝑆𝑆𝐾𝐾𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 ,𝐾𝐾𝑁𝑁 is the distance from the
cell 𝐾𝐾𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 to which the robot is directed to cell 𝐾𝐾𝑁𝑁 of the group
meeting; ℧𝑠𝑠𝑠𝑠 is the average speed of robot movement. The
response to the delay of one robot can be the search for new
routes for other units of group to synchronize meeting time.
V. SOFTWARE PLATFORM FOR GROUP INTERACTION
OF INTELLIGENT MOBILE ROBOTS
For the practical study of the developed techniques, a
software platform to implement the group interactions of
intelligent mobile robots was created. The platform provides a
complete product, which implements algorithms for moving
mobile robots around real three-dimensional terrain taking into
account the obstacles encountered. The platform architecture
was developed using the principle of inversion control and is
the IoC container that includes all the mechanisms of
interaction between robots. Platform users can define or add
additional features at extension points at all levels of the
platform. The partial UML diagram of interaction between
platform classes according to the principle of loosely coupled
design and control inversion for the basic functionality of
moving and exploring a territory by a group of robots is
presented in Figure 2.
The main classes in the diagram are as follows:
AbstractGraph, BaseGraph define representation of the
territory in format of a directed graph; Route contains route
characteristics; Target defines an interface for specifying the
interaction targets of robot or robot group; Movement is a
specific implementation of the methods for robots moving and
finding routes; IMapAnalizer, IMovement,
IWeightCalculator, IRouteComparer define the
interfaces of algorithms. They are applied by strategy pattern.
The described architecture provides the necessary basic
interaction of the platform classes and offers the subsequent
flexible software extension of its additional functionality.
VI. CONCLUSION
The proposed approach to navigating a group of mobile
robots allows performing a part of subtasks that require
(MECO), 10-14 JUNE 2019, BUDVA, MONTENEGRO
IRobotGroup
Concrete RobotGroup
RobotGroup
Joiner
Target BaseRobot
Analize
Concrete
Route IRobot
Robot
Route DefaultWeight
IMovement
Searcher Calculator
IRoute IWeight
Movement
Comparer Calculator
expensive computational resources on the central control
server. The other part is solved directly by mobile robots. In the
absence of a centralized coordinating device, the robots are
able to independently interact with each other realizing the
swarm intelligence of the group. The developed software
platform allows creating various scenarios of interaction
between robots to explore the mechanisms for synchronizing
their movements.
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