New architecture for mobile robots in home network environment using Jini

Abstract

In this paper, by using network protocol Jini, we propose an advanced resource sharing architecture (RSA) for a mobile robot. We made several services with all resources around the robot by using Jini. There is a task managing service for a certain task, and the service uses other service to perform a task as well as make a new service of other services. To verify our architecture we built a simple experimental space. In this space we performed the experiments such as a detection of desired objects, path generation and motion control for a robot, obstacle avoidance, and so on. Experimental results show that the mobile robot with our advanced RSA performs various tasks successfully.