Design and implementation of a service robot system based on ubiquitous sensor networks

Authors:
Seung Y. Na;Daejung Shin;Sowket M. Ali;Jin Y. Kim;Seong-Joon Baek;Hee-Tae Park
Affiliations:
Dept. of Electronics and Computer Engineering, Chonnam National University, Gwangju, South Korea;Dept. of Electronics and Computer Engineering, Chonnam National University, Gwangju, South Korea;Dept. of Electronics and Computer Engineering, Chonnam National University, Gwangju, South Korea;Dept. of Electronics and Computer Engineering, Chonnam National University, Gwangju, South Korea;Dept. of Electronics and Computer Engineering, Chonnam National University, Gwangju, South Korea;Dept. of Electronics and Computer Engineering, Chonnam National University, Gwangju, South Korea
Venue:
ISPRA'07 Proceedings of the 6th WSEAS International Conference on Signal Processing, Robotics and Automation
Year:
2007

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Abstract

Design and implementation of an autonomous service robot system based on ubiquitous sensor networks(USN) is proposed. Autonomous acquisition of the position information of a service robot is obtained through the integration of a given global map, USN motes and distance sensors without using cameras. Navigation of the service robot in a building is based on the given building map and the acquired position information. The functions that are relevant to robot movement such as path control, obstacle detection and avoidance are managed by a server notebook PC on the robot platform. According to a given building map, a proper set of locations for USN motes are determined. When a service robot passes by a mote, a set of an LED and a photo-transistor on the service robot and motes detects each other. When a mote detects a specified signal, then it reports to its server immediately. When a service robot detects a mote and then it receives a report from a mote in a short interval of time such as 100 msec, then a server makes decision that the service robot is in front of a mote which reported just before. Since the locations of motes are known, the location of a service robot is determined by the detection sensors and USN motes. Between the USN motes, position data of a service robot is obtained by the distance sensors and encoders that are mounted on the robot platform. Autonomous errand services from any location to given places by user's commands in a large building are possible through experiments by a Pioneer2 and ZigbeX system.