Control architecture for service drone in informationally structured environment

Farouk Ghallabi, Akihiro Kawamura, Yoonseok Pyo, Tokuo Tsuji, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we present a control architecture that enables a service drone to navigate in an informationally structured environment (ISE) and to accomplish a specific service task autonomously based on the ROS-TMS framework. The ROS-TMS is a ROS-based distributed information management system for ISE. It manages a variety of subsystems ranging from sensing by distributed sensors to motion planning and behavior control for service robots. The proposed architecture is designed as a component of the ROS-TMS, and consists of a navigation system that solves a path planning in ISE and a flight control system by a behavior-based finite state machine. The navigation of the drone is allowed by an optical motion tracking system consisting of distributed infrared cameras managed by the ROS-TMS. A graphical user interface is designed to provide simple manipulation of a service task by a drone. Service experiments have been conducted to validate the performance of the architecture.

Original languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages611-618
Number of pages8
ISBN (Electronic)9781467372428
DOIs
Publication statusPublished - Feb 10 2016
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
Duration: Dec 11 2015Dec 13 2015

Publication series

Name2015 IEEE/SICE International Symposium on System Integration, SII 2015

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period12/11/1512/13/15

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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