Robot Software Framework using Robot Operation System(ROS2) based on Behavior TreeRobot Software Framework using Robot Operation System(ROS2) based on Behavior Tree
- Other Titles
- Robot Software Framework using Robot Operation System(ROS2) based on Behavior Tree
- Authors
- 이상호; 장혜진; 전슬기; 김장환; 김영철
- Issue Date
- Nov-2023
- Publisher
- 한국인터넷방송통신학회
- Keywords
- Robot Software Framework; ROS2; Behavior Tree
- Citation
- The International Journal of Internet, Broadcasting and Communication, v.15, no.4, pp 134 - 141
- Pages
- 8
- Journal Title
- The International Journal of Internet, Broadcasting and Communication
- Volume
- 15
- Number
- 4
- Start Page
- 134
- End Page
- 141
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/32364
- DOI
- 10.7236/IJIBC.2023.15.4.134
- ISSN
- 2288-4920
2288-4939
- Abstract
- As robotic technology expands into various fields, robots need to execute some complicated tasks in diverse environments. However, the previous robotic software solutions were limited to independent systems. We can not adapt to diverse functionalities and environments. This makes it hard to provide rapid and effective services and leads to costs and losses in the development process. To overcome these problems, we propose a robot software framework with behavior trees based on ROS2. This framework simplifies complex robot behaviors through behavior trees and makes it easy to modify, extend, and reuse robot behaviors. Furthermore, ROS2 standardizes connections between software modules, enhances the robot's flexibility, and enables independent development and testing of software. Our framework aims to provide a foundation for high-quality robot service provision by supporting the modularity, reusability, independent development, and testing required by intelligent robots that need to provide services in various environments.
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Collections - Graduate School > Software and Communications Engineering > 1. Journal Articles
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