Creating a virtual environment for remote development of autonomous mobile service robots

Creating a virtual environment for remote development of autonomous mobile service robots

Valentin E. Pryanichnikov
Doctor of Technical Science, Leading Research Scientist, Keldysh Institute of Applied Mathematics of Russian Academy of Sciences (KIAM RAS), 4, Miusskaya pl., Moscow, 125047, Russia; Head of Сhair, Professor, Federal State Autonomous Educational Institution of Higher Education «Moscow State University of Technology «STANKIN» (MSUT «STANKIN»), 3A, Vadkovsky per., Moscow, 27055, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-0974-317X

Yury S. Kolesov
Postgraduate Student, KIAM RAS, 4, Miusskaya pl., Moscow, 125047, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Dmitriy S. Telezhkin
Postgraduate Student, KIAM RAS, 4, Miusskaya pl., Moscow, 125047, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

UDC identifier: 004.946:004.896:007.52:621.865.8

EDN: DCBMLY

Abstract. In the development of mobile service robots and robotic complexes, special attention is paid to remote sensory interaction with objects of the external environment, as well as the corresponding intellectualization of control systems. This allows you to expand functionality, including improving interaction with operators and staff. In particular, robots can perform tasks that do not require a high degree of concretization, navigate by the voice of people, move and maintain objects, transport them, provide physical support to patients in hospitals, provide them with guidance and information, provide care and cleaning, etc. To achieve these goals, it is necessary to implement algorithms for following a predetermined route, which it can be specified by markers or external control commands. This is especially important for solving logistical problems. As part of the «Intelligent Robotronics» project, tracked MCRs for various purposes, industrial transport robots and shop automation kits, as well as a control system for an underwater walking vehicle were developed. The problems of intellectualization of the MSR SU were solved based on the results of these developments. The autonomy of service robots is strongly influenced by the speed of response to sensor readings. It is required to ensure prompt processing of information from sensors using low-power equipment. The performance of the software is ensured by the continuity of the development process, complemented by the constant deployment and extended testing of the software on the robot's hardware. This ensures the security of storing and modifying source and binary code, as well as cross-platform development tools. To ensure the operation of numerous mechanisms and sensors of the robot, as well as the main control system, a tool was needed to control the initialization parameters of the on-board electronics of the robot, taking into account the issues of reliability and maintaining the operability of the product at all stages of operation. This article is devoted to these problems.

Key words: mobile service robots, remote development, Docker, virtual server, on-board software loader, flash memory, kernel, drivers, parser

For citation: Pryanichnikov, V.E., Kolesov, Yu.S. and Telezhkin, D.S. (2025), "Creating a virtual environment for remote development of autonomous mobile service robots", Robotics and Technical Cybernetics, vol. 13, no. 3, pp. 183-190, EDN: DCBMLY. (in Russian).

Acknowledgements
The work was carried out with the financial support of the Ministry of Science and Higher Education of the Russian Federation (project FSFS-2024-0012).

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Received 20.01.2025
Revised 07.02.2025
Accepted 25.05.2025