Abstract
This paper discusses a control architecture and a system integration strategy for multifunctional indoor service robot public service robot (PSR) systems. The authors have built three versions of the PSR systems for four target service tasks, which are delivery, patrol, guidance, and floor cleaning. They clarify the requirements of the architecture in their applications, and propose the tripodal schematic control architecture as the solution to the architectural problems. The key idea of proposed architecture is to integrate robot systems using following three frameworks, layered functionality diagram, class diagram, and configuration diagram. The proposed architecture was successfully evaluated and implemented to PSR platforms for their target tasks. Experimental results clearly showed that the developed strategy was useful for developing the autonomous service robots.
| Original language | English |
|---|---|
| Pages (from-to) | 1723-1736 |
| Number of pages | 14 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 53 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2006 Oct |
Bibliographical note
Funding Information:Manuscript received July 7, 2005; revised October 28, 2005. Abstract published on the Internet July 14, 2006. This work was supported by the Ministry of Science and Technology of Korea, performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs.
Keywords
- Control architecture
- Petri nets
- Robot system integration
- Service robots
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering