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

Content Provider	IEEE Xplore Digital Library
Author	Chang-bae Moon Woojin Chung
Copyright Year	2008
Description	Author affiliation: Div. of Mech. Eng., Korea Univ., Seoul (Chang-bae Moon)
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 GSPNpsilas 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.
Starting Page	3236
Ending Page	3241
File Size	813147
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650940
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robots Robot kinematics Transportation Monitoring Tracking Distance measurement
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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