Service-oriented Architecture for Control of Modular Robots

Service robots are increasingly used in agriculture. They are used in both animal husbandry and crop production. In this study, we present a distributed software architecture for controlling a modular service robot for animal husbandry. The purpose of this architecture is to provide communication between the modules installed on the robot. Communication is based on services and micro services, by sending requests and responses between the individual modules. The presented system can be used to control robots with different applications. The article presents an example of controlling a mobile robot in warehouses and production buildings used in animal husbandry. Modules for computer vision and autonomous navigation are presented. As an autonomous navigation module, it is a complex system of a laser sensor and GPS system. The presented distributed architecture successfully handles the control of a mobile robot and provides opportunities to upgrade the robot's systems and connect to external cyber-physical systems.