Design and Integration of a Modular Platform for Indoor Mobile Robots

This paper presents a CORBA based modular mobile robot platform which allows for programming and control of indoor mobile robots. The system provides functions such as building of the robotpsilas model, path planning, robot task planning, simulation and actual robot control functions in an indoor environment. Users can program virtual robots in a customized simulation environment, and check the performance of execution. This framework has been applied to Yaskawapsilas dual-arm-mobile service robot, ldquoSmartPalrdquo. The simulation results show that our robotic framework can simulate and control the mobile robot to perform various complex tasks.