A Service Oriented Architecture supporting an autonomous mobile robot for industrial applications

This paper presents the design and implementation of a control system for autonomous navigation based on a Service Oriented Architecture (SOA) supporting a mobile robot suitable for industrial applications. The robot is required to perform generic high-level tasks in indoor structured environments. The control architecture, developed within the Microsoft Robotics Developer Studio (MRDS), allows to encapsulate the controller functionalities as a set of services that interact and exchange data among them. This approach allows to guarantee flexibility, scalability and reliability. The accurate testing, carried out in simulated and real environments, shows good real-time performances.