A microservice based control architecture for mobile robots in safety-critical applications

Abstract

Mobile robots have become more and more common in public space. This increases the importance of meeting safety requirements of autonomous robots. Simple mechanisms, such as emergency braking, alone do not suffice in these highly dynamic situations. Moreover, actual robotic control approaches in literature and practice do not take safety particularly into account. A more sophisticated situational approach for assessment and planning is needed as part of the high-level process control. This paper presents the concept of a safety-critical Robot Control Architecture for mobile robots based on microservices and a Hierarchical Finite State Machine. It expands already existing architectures by drastically reducing the amount of centralized logic and thus increasing the overall system’s level of concurrency, interruptibility and fail-safety. Furthermore, it introduces new potential for code reuse that allows for straightforward implementation of safety mechanisms such as internal diagnostics systems. In doing so, this concept presents the template of a new type of state machine implementation. It is demonstrated with the application of a delivery robot, which was implemented and operated in real public during a broader research project. • Concurrency and interruptibility can improve fault tolerance and stability. • Division of states into atomic functionality increases reusability. • Distribution of robot functionality for increased fault tolerance.