A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR.

Area of Science:

• Robotics
• Computer Vision
• Artificial Intelligence

Background:

• Navigating multistory buildings typically involves stairs or elevators.
• Autonomous mobile robots (AMRs) face challenges in vertical transportation within buildings.
• Existing AMR systems often lack integrated solutions for inter-floor movement.

Purpose of the Study:

• To propose and validate a procedure for autonomous mobile robots to utilize remotely controlled elevators.
• To enable AMRs to navigate between different floors of a multistory building.
• To leverage 2D LIDAR for robot self-localization and elevator interaction.

Main Methods:

• Implementing Iterative Closest Point (ICP) matching for precise mobile robot self-localization.
• Utilizing a 2D map of building floors, including elevator positions.
• Developing a procedure for the robot to interface with and control remotely operated elevators.

Main Results:

• The proposed procedure successfully enabled an autonomous mobile robot to enter and operate a remotely controlled elevator.
• The robot demonstrated the ability to navigate between different floors using 2D LIDAR data.
• Successful self-localization via ICP matching was crucial for elevator interaction and navigation.

Conclusions:

• The developed procedure allows autonomous mobile robots to autonomously navigate between floors using elevators.
• 2D LIDAR-based self-localization is effective for AMRs operating in multistory environments.
• This advancement facilitates more comprehensive autonomy for robots in complex building structures.