Indoor Service Robot with Multi-sensors Implementation on the MOM

This paper proposes an indoor service robot, which integrated with multi-sensors to implement the service robotics functions. This experiment setup is based on the common platform called Automatic Robot Toolkit (ART), which offers a message stream dispatch mechanism and system development toolkit for robots. The common platform could be used to integrate different types of the components of a mobile robot, which includes a driving module, sensor module, a power module, human machine interface module, and other many. The Stargazer, stereo vision sensor, and laser senor are integrated into the ART system for solving the large positing error issues. On the other hand, the sonar sensors, IR sensors are originally mounted on the system control module for roughly detecting the obstacles of the environment. By the sensor fusion method, we may position the robot in an indoor place, for example a hospital.