Control and motion planning for mobile robots via a secure wireless communication protocol

Kaya, Muhammed Çağrı
Eroğlu, Alperen
Temizer, Selim
Mobile robot control is receiving considerably more attention in current robotics research. Especially unmanned vehicles are used in important missions such as bomb disposal, patrolling borders of a country by unmanned aerial vehicles (UAVs), etc. This usage increases the importance of unmanned vehicles and they become a target of malevolent people. In this study, a controllable robot system is designed with a secure communication protocol. A Pioneer P3-DX robot is used as a ground vehicle. The robot operates in two modes: manual mode and autonomous mode. In the manual mode, an operator controls the robot using hand gestures. A Microsoft® Kinect™ XBOX 360 device is used as the visual sensor and the human operator commands are transferred wirelessly to the robot. Using hand gestures provides a natural human-robot interaction scheme and makes the application richer. Data received from the visual sensor is first processed on a PC, and then transmitted to the robot using an Arduino board and attached RF modules. Hand gestures are defined off-line and detected in real time using the OpenNI and NITE software frameworks. A simple sign language consisting of the commands go left, go right, go forward, save current position and change the command set has been defined. The robot first saves its start position in the manual mode and it is then controlled freely by the human operator using the defined sign language. The robot switches to the autonomous mode as soon as the operator commands the robot to save its goal position. In the second mode, the robot continuously and autonomously shuttles between the saved start and goal positions. In both operational modes, the robot is capable of autonomously avoiding any obstacles while performing its task. While the human operator and the robot are communicating with each other, it is possible for someone to listen to the wireless communication and then to try to seize control of the robot. In order to tackle this security problem, the operator can change the whole set of commands at once. The operator can change the commands manually or by activating a periodic changing mode. This capability saves the system from various kinds of attacks.
Citation Formats
M. Ç. Kaya, A. Eroğlu, and S. Temizer, “Control and motion planning for mobile robots via a secure wireless communication protocol,” Elazığ, Turkey, 2013, p. 227, Accessed: 00, 2021. [Online]. Available: