A Robot Architecture of Hierarchical Finite State Machine for Autonomous Mobile Manipulator

The intelligent robots have been participating in people's work increasingly, and challenging to accomplish work autonomously with fully understand human intention through voice interaction. We proposed a robot architecture of hierarchical finite state machine (HFSM) for autonomous mobile manipulator which run on robot operating system (ROS). The system has the abilities to analyze user's input information, communicate with user to obtain complete intention when the user's intention is incomplete and transfer the intention to mission plan for executing of tasks. In this paper, we described the operation procedure of system and each component, and designed the experiment scenario to verify the feasibility of the proposed architecture. The experiments result showed our autonomous mobile manipulator achieve the high performance of automation of tasks.