Mobile robot assistants

Abstract

This article discusses dependable navigation as a basic feature for operating mobile robots among humans. The importance of each navigation module according to the previously mentioned dependability components and resulting specifications for the development of such modules is analyzed. The technical implementations of dependable localization, path planning, and obstacle avoidance systems are also presented. A discussion on the dependable execution of fetch-and-carry tasks among humans is also provided. The crucial components for accomplishing this task are specified and the requirements for the implementation are developed. A modular control architecture for task planning and execution is described, and a new method for sensor-based object manipulation is introduced. Experimental results including the long-term installation of three entertainment robots in a museum in Berlin and several short-term installations of Fraunhofer IPA's robots, Care-O-bot I and II, are also presented and evaluated.