Design and Integration of a Modular Platform for Indoor Mobile Robots

Author

Zhen, Zhang ; Qixin, Cao ; Lo, Charles

Author_Institution

Res. Inst. of Robot., Shanghai Jiao Tong Univ., Shanghai

fYear

2009

fDate

22-24 Jan. 2009

Firstpage

560

Lastpage

565

Abstract

This paper presents a CORBA based modular mobile robot platform which allows for programming and control of indoor mobile robots. The system provides functions such as building of the robotpsilas model, path planning, robot task planning, simulation and actual robot control functions in an indoor environment. Users can program virtual robots in a customized simulation environment, and check the performance of execution. This framework has been applied to Yaskawapsilas dual-arm-mobile service robot, ldquoSmartPalrdquo. The simulation results show that our robotic framework can simulate and control the mobile robot to perform various complex tasks.

Keywords

control system CAD; digital simulation; distributed object management; mobile robots; path planning; robot programming; CORBA; SmartPal; customized simulation environment; dual-arm-mobile service robot; indoor environment; indoor mobile robot; modular mobile robot platform; modular platform; path planning; robot control; robot task planning; virtual robots; Computational modeling; Control system synthesis; Middleware; Mobile robots; Operating systems; Path planning; Robot control; Robot programming; Robot sensing systems; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Computer Control, 2009. ICACC '09. International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-3330-8

Type

conf

DOI

10.1109/ICACC.2009.156

Filename

4777405