ROS Based Heterogeneous Multiple Robots Control Using High Level User Instructions

Abstract

Heterogeneous Multiple Robots(HMR) can be used in daily life for smart homes and industry. The differences in implementing different HMR can be minimized using middle-ware like Robot Operating System (ROS). However, the ROS topics, nodes, and message formats to subscribe and publish can differ from one robot to another. When a user expresses high-level instructions through the Web interface, all multiple robots must understand instructions uniformly and take the actions accordingly without considering each robot's internal software and hardware implementation. This paper represents an optimized ontology-based algorithm for HMR registration and control for high-level instructions. Autonomous robot registration was achieved using an ontology-based optimized algorithm. User-level high-level instructions are processed using an ontology-based algorithm to determine the corresponding actions for each robot. Finally, autonomous publication and subscription to different ROS topics were implemented using another optimized algorithm. The evaluation of the proposed algorithms was completed with Turtlebot, Husky and TiaGo robots using gazebo.