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 language | English |
|---|---|
| Title of host publication | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 3236-3241 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 Dec 1 |
| Event | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: 2008 Sep 22 → 2008 Sep 26 |
Other
| Other | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
|---|---|
| Country | France |
| City | Nice |
| Period | 08/9/22 → 08/9/26 |
Fingerprint
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Control architecture design of a multi-functional service robot using the GSPN (Generalized-Stochastic Petri-Nets)
AU - Moon, Chang Bae
AU - Chung, Woo Jin
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=69549098310&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549098310&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650940
DO - 10.1109/IROS.2008.4650940
M3 - Conference contribution
AN - SCOPUS:69549098310
SN - 9781424420582
SP - 3236
EP - 3241
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -