A Novel Control Architecture for Mobile Robots in Safety-Critical Applications

Publikationstyp
Conference Paper
Date Issued
2022-09
Sprache
English
Author(s)
Schrick, Manuel 
Hinckeldeyn, Johannes  orcid-logo
Thiel, Marko  orcid-logo
Institut
Technische Logistik W-6  
TORE-URI
http://hdl.handle.net/11420/14081
Citation
27th International Conference on Automation and Computing (ICAC 2022)
Contribution to Conference
27th International Conference on Automation and Computing, ICAC 2022  
Publisher DOI
10.1109/ICAC55051.2022.9911084
Scopus ID
2-s2.0-85141171714
Mobile robots have become more and more common in public space. This increases the importance of meeting safety requirements of autonomous robots. Simple mechanisms, such as emergency breaking, alone do not suffice in these highly dynamic situations. A more sophisticated situational assessment and planning is needed as part of the high-level process control. This paper presents the concept of a safety-critical Robot Control Architecture for mobile robots based on a Hierarchical Finite State Machine. It expands already existing architectures by putting the focus on concurrency, interruptibility and code reusability to allow for straightforward implementation of safety mechanisms such as internal diagnostics systems. In doing so, this concept presents the template of a new type of state machine implementation. It is is demonstrated with the application of a delivery robot in the scope of a German research project.
Subjects
mobile robots
safety
software architecture
state machine