Development and Implementation of the Robot Prototype with Inertial Navigation for Work in the Arctic

Abstract

Currently, there is a very rapid development of robotics. People use robots in many areas of their activities. Especially valuable is the use of robots in hazardous conditions for humans, in particular in studies in the Arctic. In this case, there is an acute problem of navigation. The use of global navigation satellite systems (GNSS) in the Arctic is difficult due to the small number of satellites and the influence of Aurora. Therefore, we chose the inertial type of navigation for the prototype of the robot. We used LSM330DL micromechanical sensors and Atmega8-16AU microcontroller to create a navigation system. We used wireless access point Ubiquiti Bullet M2HP Titanium to connect the robot with researchers. Tests of a prototype of a robot on a wheeled platform showed that the coordinate determination error does not exceed 6%. Tests of the navigation system were carried out up to -20°C. System components allow operation up to -40°C. The proposed navigation system can be used to create robots for work in the Arctic.