Implementation of a ROS Node for Roaming between APs for an Autonomous Mobile Robot

Luis Calle; Jordi Castel; Marco Amaya

doi:10.1109/LAEDC58183.2023.10209140

Implementation of a ROS Node for Roaming between APs for an Autonomous Mobile Robot

Luis Calle, Jordi Castel, Marco Amaya

Simulation, Optimization and Decision Making Research Group (GID-STD)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The wide field of implementation of mobile robotics has increased the need for remote interconnection of a control and visualization station with the robot to monitor the data acquired by the robot's peripherals, with wireless networks based on the 802.11 protocol being the most optimal for its ease of implementation, bandwidth and operating frequencies. Within these networks, effective service transfer between the Access Points and the robot must be sought so as not to lose communication and for it to send the data in real time by it. For this reason, in this article the implementation of a ROS node that performs the Roaming process based on the intensity of the signal received RSSI from the Access Points of the network is presented. This node runs in parallel to the teleoperated and autonomous operation of the robot. With this node, it was possible to maintain an average link status of 81.15%, signal strength 53.18 dBm, and throughput for the download link of 163.45 Kbps and upload link of 13.45 Mbps, sufficient to maintain a stable interconnection between the control and visualization station and the robot.

Original language	English
Title of host publication	2023 IEEE Latin American Electron Devices Conference, LAEDC 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350311907
DOIs	https://doi.org/10.1109/LAEDC58183.2023.10209140
State	Published - 2023
Event	2023 IEEE Latin American Electron Devices Conference, LAEDC 2023 - Puebla, Mexico Duration: 3 Jul 2023 → 5 Jul 2023

Publication series

Name	2023 IEEE Latin American Electron Devices Conference, LAEDC 2023

Conference

Conference	2023 IEEE Latin American Electron Devices Conference, LAEDC 2023
Country/Territory	Mexico
City	Puebla
Period	3/07/23 → 5/07/23

Bibliographical note

Funding Information:
*This work was supported by Universidad Politécnica Salesiana 1Luis Calle is a member of the Research Group on Simulation, Optimization and Decision Making (GID-STD), Universidad Politécnica Salesiana sede Cuenca. lcallea@ups.edu.ec 2Jordi Castel is a member of the Research Group on Simulation, Optimization and Decision Making (GID-STD), Universidad Politécnica Salesiana sede Cuenca. jcastel@ups.edu.ec 3Marco Amaya is a member of the Research Group on Simulation, Optimization and Decision Making (GID-STD), Universidad Politécnica Salesiana sede Cuenca. mamaya@ups.edu.ec

Publisher Copyright:
© 2023 IEEE.

Keywords

Roaming
Sensor Networks
Telerobotics and Teleoperation
Wheeled Robots
Wi-Fi Network

Access to Document

10.1109/LAEDC58183.2023.10209140

Cite this

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title = "Implementation of a ROS Node for Roaming between APs for an Autonomous Mobile Robot",

abstract = "The wide field of implementation of mobile robotics has increased the need for remote interconnection of a control and visualization station with the robot to monitor the data acquired by the robot's peripherals, with wireless networks based on the 802.11 protocol being the most optimal for its ease of implementation, bandwidth and operating frequencies. Within these networks, effective service transfer between the Access Points and the robot must be sought so as not to lose communication and for it to send the data in real time by it. For this reason, in this article the implementation of a ROS node that performs the Roaming process based on the intensity of the signal received RSSI from the Access Points of the network is presented. This node runs in parallel to the teleoperated and autonomous operation of the robot. With this node, it was possible to maintain an average link status of 81.15%, signal strength 53.18 dBm, and throughput for the download link of 163.45 Kbps and upload link of 13.45 Mbps, sufficient to maintain a stable interconnection between the control and visualization station and the robot.",

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Calle, L , Castel, J & Amaya, M 2023, Implementation of a ROS Node for Roaming between APs for an Autonomous Mobile Robot. in 2023 IEEE Latin American Electron Devices Conference, LAEDC 2023. 2023 IEEE Latin American Electron Devices Conference, LAEDC 2023, Institute of Electrical and Electronics Engineers Inc., 2023 IEEE Latin American Electron Devices Conference, LAEDC 2023, Puebla, Mexico, 3/07/23. https://doi.org/10.1109/LAEDC58183.2023.10209140

Implementation of a ROS Node for Roaming between APs for an Autonomous Mobile Robot. / Calle, Luis ; Castel, Jordi ; Amaya, Marco.
2023 IEEE Latin American Electron Devices Conference, LAEDC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE Latin American Electron Devices Conference, LAEDC 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Implementation of a ROS Node for Roaming between APs for an Autonomous Mobile Robot

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Keywords

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