TY - JOUR

T1 - Path Planning inside Multi-Storey Buildings: an Algorithm for Autonomous Mobile Robot

AU - Baltashov, Ilia

AU - Semakova, Anna

N1 - Publisher Copyright: © 2018

PY - 2018

Y1 - 2018

N2 - A mobile robot travels inside a multi-storey building. The robot does not know an environment a priory; it explores each floor via lidar and SLAM method. As a result, it has access to the map of the entire building. The robot can also determine staircases and move along them using data from RGB-D camera. The objective is to reach a given location, which is specified by the operator based on the resulting map. We present a navigation and guidance strategy under which the robot autonomously reaches the desired location combining 2D path planning algorithm with staircase overpassing. Effectiveness of such strategy is also confirmed by real-world experiments with tracked robotic platform.

AB - A mobile robot travels inside a multi-storey building. The robot does not know an environment a priory; it explores each floor via lidar and SLAM method. As a result, it has access to the map of the entire building. The robot can also determine staircases and move along them using data from RGB-D camera. The objective is to reach a given location, which is specified by the operator based on the resulting map. We present a navigation and guidance strategy under which the robot autonomously reaches the desired location combining 2D path planning algorithm with staircase overpassing. Effectiveness of such strategy is also confirmed by real-world experiments with tracked robotic platform.

KW - Autonomous Mobile Robot

KW - Control

KW - Guidance Navigation

KW - Localization

KW - Map Building

KW - Path Planning

UR - http://www.scopus.com/inward/record.url?scp=85058239938&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2018.11.581

DO - 10.1016/j.ifacol.2018.11.581

M3 - Article

AN - SCOPUS:85058239938

VL - 51

SP - 518

EP - 523

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8971

IS - 22

ER -