Service oriented architecture for mobile robot localization

Abstract

Sensors networks with some intelligence have been proposed for supporting mobile robot navigation systems in indoor environments. However, a standard method of communication among the sensor networks and the mobile robots still doesn't exist and the introduction of new robots in a certain environment can be a difficult task.In this paper, we present a practical example that uses the emerging standard Web Services technology for communication and seamless integration of mobile robots and intelligent sensor networks, which is used for robot localization purposes.

Autonomous mobile robots localization with multiples iGPS Web Services

“…When the iGPS correctly locate an AMR, it uses a Write MR Position function to update the SQL position database. If the data is time relevant, the information may be time stamped [7].…”

“…The data regarding the robots localization obtained through the iGPS WS can be fused with odometry data to improve the accuracy of the information. Other clients (e.g., Client Application 1) can inquire the iGPS WS for tracking purposes, for example to create data logs with the paths executed by different mobile robots [7]. A "NULL" response shall be returned if the iGPS does not locate the respective mobile robot.…”

“…For instance, Scaleinvariant feature transform (SIFT) have been suggested in [12,14,15] to recognize a mobile robot by comparing the sift keypoints of the image being captured by the iGPS system with keypoints stored in the pattern database. Another method to locate robots in the environment consists on using color bars placed on each mobile robot and comparing the parameters of the color band to those stored in the pattern database (see [7,8] and the references therein).…”

“…One popular technology which has been used to develop systems with a SOA is the Web Service technology. Web Services allow well-defined access to service interfaces which may facilitate integration of new agents (such as mobile robots) and intelligent mechatronic devices in any given environment and for distributed intelligence [10,11,16]. As an example, in [4] virtualization is proposed as a way to integrate resources inside enterprises.…”

“…The present paper attempts to emphasize the advantages of iGPS systems surrounded by a standard Web interface (the iGPS WS: indoor Global Position System Web Service) such as that presented by Christo in [7]. In order to easily integrate new iGPS localization systems and new mobile robots in an environment, the concept of a Global iGPS Database and Global Pattern Database is presented.…”