A modular architecture for a multi-purpose mobile robot

Authors:
Gerald Steinbauer;Gordon Fraser;Arndt Mühlenfeld;Franz Wotawa
Affiliations:
Institute for Software Technology, Graz University of Technology, Graz, Austria;Institute for Software Technology, Graz University of Technology, Graz, Austria;Institute for Software Technology, Graz University of Technology, Graz, Austria;Institute for Software Technology, Graz University of Technology, Graz, Austria
Venue:
IEA/AIE'2004 Proceedings of the 17th international conference on Innovations in applied artificial intelligence
Year:
2004

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Abstract

In this paper we describe a design approach for mobile robots which overcomes problems of previous approaches. The problems we address are robustness, reuse and exchangeability of components, flexibility and adaptability. The approach is based on a modularization of hardware and software. Furthermore, we propose a combination of reactive behaviors with classical planning and reasoning techniques as a robust and flexible control solution. We present the modularization approach, introduce the control solution and report practical results of the design approach which is used for developing a robot platform for the RoboCup Middle Size League.