Arne Hitzmann and Philipp Wentscher and Alexander Gabel and Reinhard Gerndt
Automated Testing of Workshop Robot Behavior
732 - 735
2014
8
5
International Journal of Mechanical and Materials Engineering
https://publications.waset.org/pdf/9998147
https://publications.waset.org/vol/89
World Academy of Science, Engineering and Technology
Autonomous mobile robots can be found in a wide
field of applications. Their types range from household robots over
workshop robots to autonomous cars and many more. All of them
undergo a number of testing steps during development, production
and maintenance. This paper describes an approach to improve
testing of robot behavior. It was inspired by the RoboCup work
competition that itself reflects a robotics benchmark for industrial
robotics. There, scaled down versions of mobile industrial robots
have to navigate through a workshoplike environment or operation
area and have to perform tasks of manipulating and transporting
work pieces. This paper will introduce an approach of automated
visionbased testing of the behavior of the so called youBot robot,
which is the most widely used robot platform in the RoboCup
work competition. The proposed system allows automated testing
of multiple tries of the robot to perform a specific missions and
it allows for the flexibility of the robot, e.g. selecting different
paths between two tasks within a mission. The approach is based
on a multicamera setup using, off the shelf cameras and optical
markers. It has been applied for testdriven development (TDD) and
maintenancelike verification of the robot behavior and performance.
Open Science Index 89, 2014