An intelligent system for driving a mobile robot will be developed. Thanks to this system the robot will be able to move on the ground in the area of interest of the critical infrastructure scenario. The mobile robot will be tele-guided with assisted driving or where conditions allow, it can carry out its missions autonomously. The robot will be able to house sensors and systems in order to transport them to the areas of interest. Although the system can have different applications, depending on the sensors and actuators equipped, for this project it is meant to carry some sensors and a small flat platform on which one UAV can be placed. The development will start from the “Moliri” system developed by Info Solution which currently satisfies a TRL7 albeit in other operational scenarios. This system will be modified to adapt it to the scenario of a critical infrastructure. The goal is to create a system for assisted remote control based on sensors that automatically identify and classify the areas in a critical infrastructure that the robot can or cannot pass through, avoiding collisions, overturning or falling into openings. The system will intervene by automatically correcting the course set with the joystick by the operator, overcoming the limitations of the operato’’s teleguide based on camera images only. If a mapping phase can be performed because the surrounding scenario is suitable, the robot location will be based on a known map and the navigation can be autonomous. A GNSS localization for outdoor scenario will be developed too allowing autonomous guidance in the areas where GNSS satellite signal and NTRIP correction signals are available.
The system will be equipped with a user interface for the remote guidance (assisted remote guidance) and the mission setting (autonomous navigation). A communication protocol will be defined in order to allow other partners to start and stop an autonomous mission through TCP/IP messages sent to the Info Solution System.