Development of the multi-functional indoor service robot PSR systems

Authors
Chung, WoojinKim, GunheeKim, Munsang
Issue Date
2007-01
Publisher
SPRINGER
Citation
AUTONOMOUS ROBOTS, v.22, no.1, pp.1 - 17
Abstract
This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.
Keywords
service robots; mobile manipulators; control architecture; system integration; Petri nets; mobile robot navigation; localization; door opening control; passive trailers
ISSN
0929-5593
URI
https://pubs.kist.re.kr/handle/201004/134796
DOI
10.1007/s10514-006-9001-z
Appears in Collections:
KIST Article > 2007
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