Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets)

Chang Bae Moon, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A mobile service robot should have the ability to carry out multiple practical tasks. However, most mobile mobile service robots have been designed to carry out a specific task. Hence it has been difficult to design a navigation framework for multiple navigation tasks. In this paper, we will design and implement a navigation framework for multiple tasks using the GSPN (Generalized Stochastic Petri-Nets). The GSPN-based navigation framework has several advantages, such as performance analysis and dynamic system analysis. Furthermore, such a design can process system events in realtime. Also, the typical problem of a hybrid control system, namely the synchronization and scheduling between reactive layer and high-level planner can be solved using the GSPN's event monitoring ability using the timed transition and immediate transition. Finally, the idle time and activation time of the tasks can be predicted under the GSPN-based navigation framework. In this paper, firstly, the transportation task and patrol task are implemented. Then, a navigation framework is designed using the GPSN. The proposed GSPN-based navigation framework is verified in the human co-existing environments by experiments. The results showed that the proposed navigation scheme can be used practically in real environments.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3236-3241
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: 2008 Sep 222008 Sep 26

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period08/9/2208/9/26

Fingerprint

Petri nets
Navigation
Robots
Synchronization
Dynamical systems
Chemical activation
Systems analysis
Scheduling
Control systems
Monitoring

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Moon, C. B., & Chung, W. J. (2008). Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets). In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3236-3241). [4650940] https://doi.org/10.1109/IROS.2008.4650940

Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets). / Moon, Chang Bae; Chung, Woo Jin.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 3236-3241 4650940.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Moon, CB & Chung, WJ 2008, Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets). in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650940, pp. 3236-3241, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 08/9/22. https://doi.org/10.1109/IROS.2008.4650940
Moon CB, Chung WJ. Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets). In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 3236-3241. 4650940 https://doi.org/10.1109/IROS.2008.4650940
Moon, Chang Bae ; Chung, Woo Jin. / Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets). 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. pp. 3236-3241
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