Abstract:

Aiming at the service robots for helping the aged and the disabled in the family and hospital environment, the architecture of the onboard computer software for service robots was designed based on behavior control. Then a hardware communication layer, protocol parsing layer, behavior layer and behavior decision layer of the software system were explained in detail. A variety of abstract objects was used to organize the code in software programming, and it was realized by the object-oriented C++ programming language. By using fuzzy control and the weighted synthesizing based multi-action fusion mechanism in the software, the service robot complex behavior control was better realized. Experimental and application results showed that the software system had many merits such as friendly interface, stable performance, convenient usage, good expansibility, and better meets the requirements of the service robots to software system on onboard computer in the home and medical environments. In reality, it has some potential benefits for their applications in relative fields.

Key words: service robot, onboard computer system, fuzzy control, action control, multi-action fusion